It seems the creators of this particular R command presume one is familiar with the original Dickey-Fuller formulae, so did not provide the relevant documentation for how to interpret the values. I found that Enders was an incredibly helpful resource (Applied Econometric Time Series 3e, 2010, p. 206-209--I imagine other editions would also be fine). Below I'll use data from the URCA package, real income in Denmark as an example.
> income <- ts(denmark$LRY)
It might be useful to first describe the 3 different formulae Dickey-Fuller used to get different hypotheses, since these match the ur.df "type" options. Enders specifies that in all of these 3 cases, the consistent term used is gamma, the coefficient for the previous value of y, the lag term. If gamma=0, then there is a unit root (random walk, nonstationary). Where the null hypothesis is gamma=0, if p<0.05, then we reject the null (at the 95% level), and presume there is no unit root. If we fail to reject the null (p>0.05) then we presume a unit root exists. From here, we can proceed to interpreting the tau's and phi's.
- type="none": $\Delta y_t = \gamma \, y_{t-1} + e_t$ (formula from Enders p. 208)
(where $e_t$ is the error term, presumed to be white noise; $\gamma = a-1$ from $y_t = a \,y_{t-1} + e_t$; $y_{t-1}$ refers to the previous value of $y$, so is the lag term)
For type= "none," tau (or tau1 in R output) is the null hypothesis for gamma = 0. Using the Denmark income example, I get "Value of test-statistic is 0.7944" and the "Critical values for test statistics are: tau1 -2.6 -1.95 -1.61. Given that the test statistic is within the all 3 regions (1%, 5%, 10%) where we fail to reject the null, we should presume the data is a random walk, ie that a unit root is present. In this case, the tau1 refers to the gamma = 0 hypothesis. The "z.lag1" is the gamma term, the coefficient for the lag term (y(t-1)), which is p=0.431, which we fail to reject as significant, simply implying that gamma isn't statistically significant to this model. Here is the output from R
> summary(ur.df(y=income, type = "none",lags=1))
>
> ###############################################
> # Augmented Dickey-Fuller Test Unit Root Test #
> ###############################################
>
> Test regression none
>
>
> Call:
> lm(formula = z.diff ~ z.lag.1 - 1 + z.diff.lag)
>
> Residuals:
> Min 1Q Median 3Q Max
> -0.044067 -0.016747 -0.006596 0.010305 0.085688
>
> Coefficients:
> Estimate Std. Error t value Pr(>|t|)
> z.lag.1 0.0004636 0.0005836 0.794 0.431
> z.diff.lag 0.1724315 0.1362615 1.265 0.211
>
> Residual standard error: 0.0251 on 51 degrees of freedom
> Multiple R-squared: 0.04696, Adjusted R-squared: 0.009589
> F-statistic: 1.257 on 2 and 51 DF, p-value: 0.2933
>
>
> Value of test-statistic is: 0.7944
>
> Critical values for test statistics:
> 1pct 5pct 10pct
> tau1 -2.6 -1.95 -1.61
- type = "drift" (your specific question above): : $\Delta y_t = a_0 + \gamma \, y_{t-1} + e_t$ (formula from Enders p. 208)
(where $a_0$ is "a sub-zero" and refers to the constant, or drift term)
Here is where the output interpretation gets trickier. "tau2" is still the $\gamma=0$ null hypothesis. In this case, where the first test statistic = -1.4462 is within the region of failing to reject the null, we should again presume a unit root, that $\gamma=0$.
The phi1 term refers to the second hypothesis, which is a combined null hypothesis of $a_0 = \gamma = 0$. This means that BOTH of the values are tested to be 0 at the same time. If p<0.05, we reject the null, and presume that AT LEAST one of these is false--i.e. one or both of the terms $a_0$ or $\gamma$ are not 0. Failing to reject this null implies that BOTH $a_0$ AND $\gamma = 0$, implying 1) that $\gamma=0$ therefore a unit root is present, AND 2) $a_0=0$, so there is no drift term. Here is the R output
> summary(ur.df(y=income, type = "drift",lags=1))
>
> ###############################################
> # Augmented Dickey-Fuller Test Unit Root Test #
> ###############################################
>
> Test regression drift
>
>
> Call:
> lm(formula = z.diff ~ z.lag.1 + 1 + z.diff.lag)
>
> Residuals:
> Min 1Q Median 3Q Max
> -0.041910 -0.016484 -0.006994 0.013651 0.074920
>
> Coefficients:
> Estimate Std. Error t value Pr(>|t|)
> (Intercept) 0.43453 0.28995 1.499 0.140
> z.lag.1 -0.07256 0.04873 -1.489 0.143
> z.diff.lag 0.22028 0.13836 1.592 0.118
>
> Residual standard error: 0.0248 on 50 degrees of freedom
> Multiple R-squared: 0.07166, Adjusted R-squared: 0.03452
> F-statistic: 1.93 on 2 and 50 DF, p-value: 0.1559
>
>
> Value of test-statistic is: -1.4891 1.4462
>
> Critical values for test statistics:
> 1pct 5pct 10pct
> tau2 -3.51 -2.89 -2.58
> phi1 6.70 4.71 3.86
- Finally, for the type="trend": $\Delta y_t = a_0 + \gamma * y_{t-1} + a_{2}t + e_t$ (formula from Enders p. 208)
(where $a_{2}t$ is a time trend term)
The hypotheses (from Enders p. 208) are as follows:
tau: $\gamma=0$
phi3: $\gamma = a_2 = 0$
phi2: $a_0 = \gamma = a_2 = 0$
This is similar to the R output. In this case, the test statistics are -2.4216 2.1927 2.9343
In all of these cases, these fall within the "fail to reject the null" zones (see critical values below). What tau3 implies, as above, is that we fail to reject the null of unit root, implying a unit root is present.
Failing to reject phi3 implies two things: 1) $\gamma = 0$ (unit root) AND 2) there is no time trend term, i.e., $a_2=0$. If we rejected this null, it would imply that one or both of these terms was not 0.
Failing to reject phi2 implies 3 things: 1) $\gamma = 0$ AND 2) no time trend term AND 3) no drift term, i.e. that $\gamma =0$, that $a_0 = 0$, and that $a_2 = 0$. Rejecting this null implies that one, two, OR all three of these terms was NOT zero.
Here is the R output
> summary(ur.df(y=income, type = "trend",lags=1))
>
> ###############################################
> # Augmented Dickey-Fuller Test Unit Root Test #
> ###############################################
>
> Test regression trend
>
>
> Call:
> lm(formula = z.diff ~ z.lag.1 + 1 + tt + z.diff.lag)
>
> Residuals:
> Min 1Q Median 3Q Max
> -0.036693 -0.016457 -0.000435 0.014344 0.074299
>
> Coefficients:
> Estimate Std. Error t value Pr(>|t|)
> (Intercept) 1.0369478 0.4272693 2.427 0.0190 *
> z.lag.1 -0.1767666 0.0729961 -2.422 0.0192 *
> tt 0.0006299 0.0003348 1.881 0.0659 .
> z.diff.lag 0.2557788 0.1362896 1.877 0.0665 .
> ---
> Signif. codes: 0 '***' 0.001 '**' 0.01 '*' 0.05 '.' 0.1 ' ' 1
>
> Residual standard error: 0.02419 on 49 degrees of freedom
> Multiple R-squared: 0.1342, Adjusted R-squared: 0.08117
> F-statistic: 2.531 on 3 and 49 DF, p-value: 0.06785
>
>
> Value of test-statistic is: -2.4216 2.1927 2.9343
>
> Critical values for test statistics:
> 1pct 5pct 10pct
> tau3 -4.04 -3.45 -3.15
> phi2 6.50 4.88 4.16
> phi3 8.73 6.49 5.47
In your specific example above, for the d.Aus data, since both of the test statistics are inside of the "fail to reject" zone, it implies that $\gamma=0$ AND $a_0 = 0$, meaning that there is a unit root, but no drift term.
I think your understanding is quite correct. The issue is, as you noticed, that the DF test is a left-tailed test, testing $H_0:\rho=1$ against $H_1:|\rho|<1$, using a standard t-statistic
$$
t=\frac{\hat\rho-1}{s.e.(\hat\rho)}
$$
and negative critical values ($c.v.$) from the Dickey-Fuller distribution (a distribution that is skewed to the left). For example, the 5%-quantile is -1.96 (which, btw, is only spuriously the same as the 5% c.v. of a normal test statistic - it is the 5% quantile, this being a one-sided test, not the 2.5%-quantile!), and one rejects if $t< c.v.$. Now, if you have an explosive process with $\rho>1$, and OLS correctly estimates this, there is of course no way the DF test statistic can be negative, as $t>0$, too. Hence, it won't reject against stationary alternatives, and it shouldn't.
Now, why do people typically proceed in this way and should they?
The reasoning is that explosive processes are thought to be unlikely to arise in economics (where the DF test is mainly used), which is why it is typically of interest to test against stationary alternatives.
That said, there is a recent and burgeoning literature on testing the unit root null against explosive alternatives, see e.g. Peter C. B. Phillips, Yangru Wu and Jun Yu, International Economic Review 2011: EXPLOSIVE BEHAVIOR IN THE 1990s NASDAQ: WHEN DID EXUBERANCE ESCALATE ASSET VALUES?. I guess the title of the paper already provides motivation for why this might be interesting. And indeed, these tests proceed by looking at the right tails of the DF distribution.
Finally (your first question actually), that OLS can consistently estimate an explosive AR(1) coefficient is shown in work like Anderson, T.W., 1959. On asymptotic distributions of estimates of parameters of stochastic difference equations. Annals of Mathematical Statistics 30, 676–687.
Best Answer
Yes H0 is the hypothesis, that you have a unit root in your data. If you type drift, there will be a constant but no trend in your model as you mentioned. the critical values are listed at the bottom of the test. So for example for ln(x) the ur.df function gives you the value of test- statistic which in your case is: -2.1074 since this is not smaller than the critical value of -2.86 ( I assume you use the 5% level) you can not reject H0. For the order of integration: run the same test again, but this time using the first difference of your variable. If you can reject H0 this time your series is I(0) if not you have to take the second difference and then test again. If you can reject H0 after taking the second difference your series is I(2), and so on...