Estimation of the parameters of the Ornstein-Uhlenbeck's stochastic process

It is considered Ornstein-Uhlenbeck process $x_t = x_0 e^{-\theta t} + \mu (1-e^{-\theta t}) + \sigma \int_0^t e^{-\theta (t-s)} dW_s$, where $x_0 \in R$, $\theta>0$, $\mu \in R$ and $\sigma > 0$ are parameters. By use values $(z_k)_{k \in N}$ of corresponding trajectories at a fixed positive moment $t$, a consistent estimate of each unknown parameter of the Ornstein-Uhlenbeck's stochastic process is constructed under assumption that all another parameters are known.