 Innovation exponential for Gaussian drift filtering

For the Gaussian Brownian drift filter with positive definite $V_0$, define $Z_t=\det (I+t{V}_0{)}^{1/2}\exp [-m_t^T{V}_t^{-1}{m}_t/2+m_0^T{V}_0^{-1}{m}_0/2]$. Because $V_t^{\prime }=-V_t^2$ and $d{m}_t=V_{t}d{\hat{W}}_t$, the Itô formula gives $d\log Z_t=-m_t^{T}d{\hat{W}}_t-|m_t{|}^{2}dt/2$. Thus $Z$ is a positive stochastic exponential, hence a nonnegative local martingale and a supermartingale. For a singular prior, the inverse-matrix expression is undefined; the same process can instead be defined by $Z_t=({\mathbb{E}}_{\lambda \sim N(m_0,V_0)}\exp [{\lambda }^T{Y}_t-t|\lambda {|}^2/2]{)}^{-1}$, with $Y_t$ treated as fixed inside this Gaussian integral.