Ergodicity of hidden Markov models

In this paper we study ergodic properties of hidden Markov models with a generalized observation structure. In particular sufficient conditions for the existence of a unique invariant measure for the pair filter-observation are given. Furthermore, necessary and sufficient conditions for the existence of a unique invariant measure of the triple state-observation-filter are provided in terms of asymptotic stability in probability of incorrectly initialized filters. We also study the asymptotic properties of the filter and of the state estimator based on the observations as well as on the knowledge of the initial state. Their connection with minimal and maximal invariant measures is also studied.