D. Crisan et al., CONVERGENCE OF A BRANCHING PARTICLE METHOD TO THE SOLUTION OF THE ZAKAI EQUATION, SIAM journal on applied mathematics (Print), 58(5), 1998, pp. 1568-1590
We construct a sequence of branching particle systems U-n convergent i
n distribution to the solution of the Zakai equation. The algorithm ba
sed on this result can be used to solve numerically the filtering prob
lem. The result is an improvement of the one presented in a recent pap
er [Crisan and T. Lyons, Prob. Theory Related Fields, 109 (1997), pp.
217-244], because it eliminates the extra degree of randomness introdu
ced there.