Quality of Service (QoS) has been widely used for web service recommendation and selection. Since QoS information usually cannot be predetermined, how to make personalized QoS prediction precisely becomes a big challenge. Time series forecasting and Collaborative Filtering (CF) are two mainstream technologies for QoS prediction. However, existing time series forecasting approaches based on AutoRegressive Integrated Moving Average (ARIMA) models do not take new observations as a feedback to revise QoS forecasts. Moreover, they only focus on forecasting QoS values for each individual web service. Service users' personalized factors are not considered. CF facilitates personalized QoS evaluation, but rarely models the temporal dynamics of QoS values. To address the limitations of existing approaches, this paper proposes a novel personalized QoS prediction approach considering both the temporal dynamics of QoS attributes and the personalized factors of service users. Our approach seamlessly combines CF with an improved time series forecasting method, which uses Kalman filtering to compensate for defects of ARIMA models. Additionally, we design a prototype system for QoS dissemination over the Internet, thus providing a necessary infrastructure for the implementation of personalized QoS prediction. Finally, we conduct experiments to study the effectiveness of our approach. Experimental results show our approach can improve QoS prediction accuracy significantly.