Interacting particle systems approximations of the Kushner-Stratonovitch equation

In this paper we consider the continuous-time filtering problem and we esti mate the order of convergence of an interacting particle system scheme pres ented by the authors in previous works. We will discuss how the discrete ti me approximating model of the Kushner-Stratonovitch equation and the geneti c type interacting particle system approximation combine. We present quench ed error bounds as well as mean order convergence results.