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The observable process is of the form \\(z_ k=h_ k(x_ k,v_ k)\\) where \\(z_ k,h_ k\\in R^ q\\), the noise \\(v_ k\\) is independent of \\(w_ k\\) and \\(v_ k\\in R^ p\\). Thus the set \\(Z_ k=\\{z_ i,u_ i:\\) \\(i=0,1,...,k\\}\\) is the information avaible at time k. The problem is to find recursively the conditional densities \\(p(x_{k+1}| Z_ k)\\). Note that generally there is no closed form solution. The well-known linear model is one of a few exceptions. Here the authors obtain a numerical solution by using a simple piecewise constant approximation to the density functions. The proposed algorithm is analyzed in detail. In particular, a bound on the maximum error is derived and stability properties are studied. Useful comparison with other algorithms is given. Finally, the authors apply their algorithm to a system identification problem. 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