Shue, LouisDey, SubhrakantiAnderson, Brian D.O.De Bruyne, Franky2026-01-012026-01-010191-2216ORCID:/0000-0002-1493-4774/work/174739498https://hdl.handle.net/1885/733801130This paper considers the problem of quantisation from the perspective of minimising filtering error when quantised instead of continuous measurements are used as inputs to the nonlinear filter, specialising to a discrete-time 2-state hidden Markov model (HMM) with continuous output.2en19990033325161