Explicit filters for diffusions with certain nonlinear drifts

Abstract
Let x(t) be a diffusion satisfying the stochastic differential equation . V.Beneš gave an explicit formula for the conditional density of x(t) given when w(·)is a Brownian process independent of x(·). This result is extended and then applied to derive recursive filtering equations for estimating conditional moments for estimating polynomial functionals of x(·), and for smoothing.

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