A continuous-time, non-linear filtering problem is considered in which both signal and observation processes are Markov chains. New finite-dimensional filters and smoothers are obtained for the state of the signal, for the number of jumps from one state to another, for the occupation time in any state of the signal, and for joint occupation times of the two processes. These estimates are then used in the expectation maximization algorithm to improve the parameters in the model. Consequently, our filters and model are adaptive, or self-tuning.
