Kalman filtering with truncated normal state variables for Bayesian estimation of macroeconomic models

"A pair of simple modifications to the Kalman filter recursions makes possible the filtering of models in which one or more state variables is truncated normal. Such recursions are broadly applicable to macroeconometric models that have one or more probit-type equation, such as vector autoregressions and estimated dynamic stochastic general equilibrium models"--Federal Reserve Bank of St. Louis web site.