Finite Dimensional Filters with Nonlinear Drift, XI Explicit Solution of the Generalized Kolmogorov Equation in Brockett–Mitter Program

AbstractEver since the technique of the Kalman–Bucy filter was popularized, there has been an intense interest in finding new classes of finite-dimensional recursive filters. In the late 1970s the concept of the estimation algebra of a filtering system was introduced. Brockett, Clark, and Mitter proposed to use the Wei–Norman approach to solve the nonlinear filtering problem. In 1990, Tam, Wong, and Yau presented a rigorous proof of the Brocket–Mitter program which allows one to construct finite-dimensional recursive filters from finite–dimensional estimation algebras. Later Yau wrote down explicitly a system of ordinary differential equations and generalized Kolmogorov equation to which the robust Duncan–Mortenser– Zakai equation can be reduced. Thus there remains three fundamental problems in Brockett–Mitter program. The first is the problem of finding explicit solution to the generalized Kolmogorov equation. The second is the problem of finding real-time solution of a system of ODEs. The third is the Brockett's problem of classification of finite–dimensional estimation algebras. In this paper, we solve the first problem