In this paper we investigate the geometry of the likelihood of the unknown parameters in a simple class of Bayesian directed graphs with hidden variables. This enables us, before any numerical algorithms are employed, to obtain certain insights in the nature of the unidentifiability inherent in such models, the way posterior densities will be sensitive to prior densities and the typical geometrical form these posterior densities might take. Many of these insights carry over into more complicated Bayesian networks with systematic missing data.
In this paper we extend the work of Smith and Papamichail (1999) and present fast approximate Bayesian algorithms for learning in complex scenarios where at any time frame, the relationships between explanatory state space variables can be described by a Bayesian network that evolve dynamically over time and the observations taken are not necessarily Gaussian. It uses recent developments in approximate Bayesian forecasting methods in combination with more familiar Gaussian propagation algorithms on junction trees. The procedure for learning state parameters from data is given explicitly for common sampling distributions and the methodology is illustrated through a real application. The efficiency of the dynamic approximation is explored by using the Hellinger divergence measure and theoretical bounds for the efficacy of such a procedure are discussed.