In this article we consider the estimation of the log-normalization constant associated to a class of continuous-time filtering models. In particular, we consider ensemble Kalman–Bucy filter estimates based upon several nonlinear Kalman–Bucy diffusions. Using new conditional bias results for the mean of the aforementioned methods, we analyze the empirical log-scale normalization constants in terms of their $\mathbb{L}_n$ -errors and $\mathbb{L}_n$ -conditional bias. Depending on the type of nonlinear Kalman–Bucy diffusion, we show that these are bounded above by terms such as $\mathsf{C}(n)\left[t^{1/2}/N^{1/2} + t/N\right]$ or $\mathsf{C}(n)/N^{1/2}$ ( $\mathbb{L}_n$ -errors) and $\mathsf{C}(n)\left[t+t^{1/2}\right]/N$ or $\mathsf{C}(n)/N$ ( $\mathbb{L}_n$ -conditional bias), where t is the time horizon, N is the ensemble size, and $\mathsf{C}(n)$ is a constant that depends only on n, not on N or t. Finally, we use these results for online static parameter estimation for the above filtering models and implement the methodology for both linear and nonlinear models.

This paper investigates the linear minimum mean-square error estimation for discrete-time Markovian jump linear systems with delayed measurements. The key technique applied for treating the measurement delay is reorganization innovation analysis, by which the state estimation with delayed measurements is transformed into a standard linear mean-square filter of an associated delay-free system. The optimal filter is derived based on the innovation analysis method together with geometric arguments in an appropriate Hilbert space. The solution is given in terms of two Riccati difference equations. Finally, a simulation example is presented to illustrate the efficiency of the proposed method.

Fast filtering algorithms arising from linear filtering and estimation are nonlinear dynamical systems whose initial values are the statistics of the observation process. In this paper, we give a fairly complete description of the phase portrait for such nonlinear dynamical systems, as well as a special type of naturally related matrix Riccati equation.

Comparison theorems are developed for the pair of first order Riccati equations (1) and (2) . The comparisons are of an integral type and involve an auxiliary function μ. Applications are given to disconjugacy theory for self-adjoint equations of the second and fourth order.