A filtering equation is derived for P (x(1) = x\y(s), s is an element of [0
, t]) fora continuous-time finite-state two-component time-nonhomogeneous c
adlag Markov process z(y) = (x(t), y(t)). The derivation is based on some n
ew ideas in the filtering theory and does not require any knowledge of stoc
hastic integration.