We construct a sequence of branching particle systems a, convergent in meas
ure to the solution of the Kushner-Stratonovitch equation. The algorithm ba
sed on this result can be used to solve numerically the filtering problem.
We prove that the rate of convergence of the algorithm is of order n(1/4).
This paper is the third in a sequence, and represents the most efficient al
gorithm we have identified so far.