Stochastic Partial Differential Equations on Manifolds~II. Nonlinear Filtering

The conditional law of an unobservable component x(t) of a diffusion (x(t),y(t)) given the observations {y(s):s[0,t]} is investigated when x(t) lives on a submanifold of . The existence of the conditional density with respect to a given measure on is shown under fairly general conditions, and the analytical properties of this density are characterized in terms of the Sobolev spaces used in the first part of this series.