We consider a parametrization of the Heath-Jarrow-Morton (HJM) family of term structure of interest rate models that allows a finite-dimensional Markovian representation of the stochastic dynamics. This parametrization results from letting the volatility function depend on time to maturity and on two factors: the instantaneous spot rate and one fixed-maturity forward rate. Our main purpose is an estimation methodology for which we have to model the observations under the historical probability measure. This leads us to consider as an additional third factor the market price of interest rate risk, that connects the historical and the HJM martingale measures. Assuming that the information comes from noisy observations of the fixed-maturity forward rate, the purpose is to estimate recursively, on the basis of this information, the three Markovian factors as well as the parameters in the model, in particular those in the volatility function. This leads to a nonlinear filtering problem, for the solution of which we describe an approximation methodology, based on time discretization and quantization. We prove the convergence of the approximate filters for each of the observed trajectories.