Abstract. We discuss hidden Markov-type models for fitting a variety of multistate random walks to wildlife movement data. Discrete-time hidden Markov models (HMMs) achieve considerable computational gains by focusing on observations that are regularly spaced in time, and for which the measurement error is negligible. These conditions are often met, in particular for data related to terrestrial animals, so that a likelihood-based HMM approach is feasible. We describe a number of extensions of HMMs for animal movement modeling, including more flexible state transition models and individual random effects (fitted in a non-Bayesian framework). In particular we consider so-called hidden semi-Markov models, which may substantially improve the goodness of fit and provide important insights into the behavioral state switching dynamics. To showcase the expediency of these methods, we consider an application of a hierarchical hidden semi-Markov model to multiple bison movement paths.

Summary1. Due to the substantial progress in tracking technology, recent years have seen an explosion in the amount of movement data being collected. This has led to a huge demand for statistical tools that allow ecologists to draw meaningful inference from large tracking data sets. 2. The class of hidden Markov models (HMMs) matches the intuitive understanding that animal movement is driven by underlying behavioural modes and has proven to be very useful for analysing movement data. For data that involve a regular sampling unit and negligible measurement error, these models usually are sufficiently flexible to capture the complex correlation structure found in movement data, yet are computationally inexpensive compared to alternative methods. 3. The R package moveHMM allows ecologists to process GPS tracking data into series of step lengths and turning angles, and to fit an HMM to these data, allowing, in particular, for the incorporation of environmental covariates. The package includes assessment and visualization tools for the fitted model. 4. We illustrate the use of moveHMM using (simulated) movement of the legendary wild haggis Haggis scoticus. Our findings illustrate the role our software, and movement modelling in general, can play in conservation and management by illuminating environmental constraints.

Understanding animal movement is essential to elucidate how animals interact, survive, and thrive in a changing world. Recent technological advances in data collection and management have transformed our understanding of animal “movement ecology” (the integrated study of organismal movement), creating a big-data discipline that benefits from rapid, cost-effective generation of large amounts of data on movements of animals in the wild. These high-throughput wildlife tracking systems now allow more thorough investigation of variation among individuals and species across space and time, the nature of biological interactions, and behavioral responses to the environment. Movement ecology is rapidly expanding scientific frontiers through large interdisciplinary and collaborative frameworks, providing improved opportunities for conservation and insights into the movements of wild animals, and their causes and consequences.

With the influx of complex and detailed tracking data gathered from electronic tracking devices, the analysis of animal movement data has recently emerged as a cottage industry amongst biostatisticians. New approaches of ever greater complexity are continue to be added to the literature. In this paper, we review what we believe to be some of the most popular and most useful classes of statistical models used to analyze individual animal movement data. Specifically we consider discrete-time hidden Markov models, more general state-space models and diffusion processes. We argue that these models should be core components in the toolbox for quantitative researchers working on stochastic modelling of individual animal movement. The paper concludes by offering some general observations on the direction of statistical analysis of animal movement. There is a trend in movement ecology toward what are arguably overly-complex modelling approaches which are inaccessible to ecologists, unwieldy with large data sets or not based in mainstream statistical practice. Additionally, some analysis methods developed within the ecological community ignore fundamental properties of movement data, potentially leading to misleading conclusions about animal movement. Corresponding approaches, e.g. based on Lévy walk-type models, continue to be popular despite having been largely discredited. We contend that there is a need for an appropriate balance between the extremes of either being overly complex or being overly simplistic, whereby the discipline relies on models of intermediate complexity that are usable by general ecologists, but grounded in well-developed statistical practice and efficient to fit to large data sets.

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