Universal, Continuous-Discrete Nonlinear Yau Filtering I: Affine, Linear   State Model with State-Independent Diffusion Matrix
  The continuous-discrete filtering problem requires the solution of a partial differential equation known as the Fokker-Planck-Kolmogorov forward equation (FPKfe). In this paper, it is pointed out that for a state model with an affine, linear drift and state-independent diffusion matrix the fundamental solution can be obtained using only linear algebra techniques. In particular, no differential equations need to be solved. Furthermore, there are no restrictions on the size of the time step size, or on the measurement model. Also discussed are important computational aspects that are crucial for potential real-time implementation for higher-dimensional problems. The solution is universal in the sense that the initial distribution may be arbitrary. 
Bhashyam Balaji