The Queen is to be joined by the Duke and Duchess of Cambridge as she continues her Diamond Jubilee tour in the East Midlands.

The royal party will travel by train to Nottingham on Wednesday, where they will undertake a series of engagements in the city.

The Duke of Edinburgh was originally scheduled to join the Queen and William and Kate on the trip but has had to cancel as he continues to recover from a bladder infection.

Philip left hospital on Saturday, the day before his 91st birthday, after falling ill following the Diamond Jubilee River Pageant.

The Duke was on board the Spirit Of Chartwell royal barge in a flotilla of 1,000 boats along the Thames in extremely wet and cold conditions.

He is continuing his convalescence at home, Buckingham Palace said.

The East Midlands visit will continue in his absence and will see the royal party visit Market Square in the city centre, where they will greet the crowds before going into the Council House.

They will also make an appearance on the balcony of the building and attend a reception of invited guests in the ballroom.

They are then due to travel to Vernon Park in Basford, around three and a half miles from the city centre, to mark a Fields in Trust project for the Diamond Jubilee.

As patron of the Queen Elizabeth Fields Challenge - a project supported by The Foundation of Prince William and Prince Harry - the Duke of Cambridge will speak.

The Queen will unveil a plaque at the park, which has been granted Queen Elizabeth II Fields in Trust status.

William and Kate will remain at Vernon Park after the Queen has left, where they will watch some sport and meet people involved in the Queen Elizabeth Fields Challenge.

Nottingham City Council leader Jon Collins, said: "As the capital of the East Midlands, it's great Nottingham's playing host to this royal visit.

"I'm sure that local people will give the royal party a warm welcome and will be excited about getting the chance to also see the Duke and Duchess of Cambridge as part of the Diamond Jubilee celebrations."

The Queen will then travel to Burghley House in Stamford, Lincolnshire, which is hosting a Diamond Jubilee Picnic, before making a final stop at the Olympic swimming pool in Corby, Northamptonshire, where she will watch a high diving display.

She will also visit The Cube, a building which houses council offices, a library and theatre.

The Diamond Jubilee tour began on March 8 in Leicester and has taken in a number of cities and regions so far including Manchester, Salisbury, Richmond and Liverpool.

So far this year, the Queen has received more than 130,000 letters and messages of goodwill with 45 sacks of post delivered to Buckingham Palace.

Take a look at pictures from the Diamond Jubilee celebrations below:

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  • (L-R) Camilla, Duchess of Cornwall, Prince Charles, Prince of Wales, Queen Elizabeth II, Prince William, Duke of Cambridge, Catherine, Duchess of Cambridge and Price Harry wave to the crowds from Buckingham Palace during the Diamond Jubilee carriage procession after the service of thanksgiving at St.Paul's Cathedral on the Mall on June 5, 2012 in London, England. For only the second time in its history the UK celebrates the Diamond Jubilee of a monarch. Her Majesty Queen Elizabeth II celebrates the 60th anniversary of her ascension to the throne. Thousands of wellwishers from around the world have flocked to London to witness the spectacle of the weekend's celebrations. (Photo credit: Dan Kitwood/Getty Images)

  • The Royal Air Force Aerobatic Team fly in formation over Buckingham Palace as The Royal family stand on the balcony on June 5, 2012 in London, England. For only the second time in its history the UK celebrates the Diamond Jubilee of a monarch. Her Majesty Queen Elizabeth II celebrates the 60th anniversary of her ascension to the throne. Thousands of wellwishers from around the world have flocked to London to witness the spectacle of the weekend's celebrations. (Photo credit: Peter Macdiarmid - WPA Pool /Getty Images)

  • Prince William, Duke of Cambridge, Prince Harry and Catherine, Duchess of Cambridge on the balcony of Buckingham Palace after the service of thanksgiving at St.Paul's Cathedral on June 5, 2012 in London, England. For only the second time in its history the UK celebrates the Diamond Jubilee of a monarch. Her Majesty Queen Elizabeth II celebrates the 60th anniversary of her ascension to the throne. Thousands of wellwishers from around the world have flocked to London to witness the spectacle of the weekend's celebrations. (Photo credit: Oli Scarff/Getty Images)

  • (L-R) Camilla, Duchess of Cornwall, Prince Charles, Prince of Wales, Queen Elizabeth II, Prince William, Duke of Cambridge, Catherine, Duchess of Cambridge and Price Harry wave to the crowds from Buckingham Palace during the Diamond Jubilee carriage procession after the service of thanksgiving at St.Paul's Cathedral on the Mall on June 5, 2012 in London, England. For only the second time in its history the UK celebrates the Diamond Jubilee of a monarch. Her Majesty Queen Elizabeth II celebrates the 60th anniversary of her ascension to the throne. Thousands of wellwishers from around the world have flocked to London to witness the spectacle of the weekend's celebrations. (Photo credit: Dan Kitwood/Getty Images)

  • British police lead flag waving crowds lining the monarch's route from the Houses of Parliament to Buckingham Palace to celebrate the Queen's Diamond Jubilee in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations with a thanksgiving service and ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: AFP PHOTO / JOHN MACDOUGALLJOHN MACDOUGALL/AFP/GettyImages)

  • Royal Air force Red Arrow display team fly pass Buckingham Palace in London where Britain Queen Elizabeth II watches from the palace balcony as part of a four-day Diamond Jubilee celebration to mark the 60th anniversary of Queen Elizabeth II accession to the throne, Tuesday, June 5, 2012. (Photo credit: AP Photo/Sang Tan)

  • Queen Elizabeth II travels by carriage to Buckingham Palace with Camilla, Duchess of Cornwall and Prince Charles, Prince of Wales after a lunch at Westminster Hall as part of the Diamond Jubilee celebrations.

  • Queen Elizabeth II travels through Trafalgar Square, London with the Prince of Wales and Duchess of Cornwall on route to Buckingham Palace during the Diamond Jubilee celebrations.

  • Queen Elizabeth II travels by carriage to Buckingham Palace with Camilla, Duchess of Cornwall and Prince Charles, Prince of Wales after a lunch at Westminster Hall as part of the Diamond Jubilee celebrations.

  • Queen Elizabeth II travels by carriage to Buckingham Palace with Camilla, Duchess of Cornwall and Prince Charles, Prince of Wales after a lunch at Westminster Hall as part of the Diamond Jubilee celebrations.

  • Queen Elizabeth II travels by carriage to Buckingham Palace with Camilla, the Duchess of Cornwall and the Prince Charles, the Prince of Wales after a lunch at Westminster Hall in London.

  • Queen Elizabeth II travels by carriage to Buckingham Palace with Camilla, Duchess of Cornwall and Prince Charles, Prince of Wales after a lunch at Westminster Hall as part of the Diamond Jubilee celebrations.

  • Queen Elizabeth II travels by carriage to Buckingham Palace with Camilla, Duchess of Cornwall and Prince Charles, Prince of Wales after a lunch at Westminster Hall as part of the Diamond Jubilee celebrations.

  • The Duchess of Cambridge arrives for a lunch at Westminster Hall in London with 700 guests on the final day of Queen Elizabeth II's Diamond Jubilee celebrations.

  • The Duke and Duchess of Cambridge travel in a carriage to Buckingham Palace along The Mall, London.

  • Catherine, Duchess of Cambridge attends a reception at Guildhall in central London for Queen Elizabeth II's Diamond Jubilee.

  • The Duke and Duchess of Cambridge travel in a carriage to Buckingham Palace along The Mall, London.

  • The Duchess of Cambridge arrives for a lunch at Westminster Hall in London with 700 guests on the final day of Queen Elizabeth II's Diamond Jubilee celebrations.

  • Prince Harry and the Duke and Duchess of Cambridge attend a service of thanksgiving to celebrate the Diamond Jubilee of Queen Elizabeth II at St Paul's Cathedral, London.

  • The Duke and Duchess of Cambridge leave Westminster Hall after a Diamond Jubilee Luncheon given for The Queen by The Livery Companies of The City of London.

  • Members of the public gather along Whitehall to try and get a glimpse of the Queen on her way back to Buckingham Palace, London as part of the Diamond Jubilee celebrations.

  • Prince Charles, Prince of Wales and Archbishop of York, Dr John Sentamu attend a reception at Guildhall in central London for Queen Elizabeth II's Diamond Jubilee.

  • Princess Beatrice attends a reception at Guildhall in central London for Queen Elizabeth II's Diamond Jubilee.

  • Britain's Queen Elizabeth II waves next to the Dean of St. Paul's David Ison as she leaves St Paul's Cathedral after the National Service of Thanksgiving in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations and festivities will conclude with a ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: IAN KINGTON/AFP/GettyImages)

  • Britain's Queen Elizabeth II waves as she leaves St Paul's Cathedral after the National Service of Thanksgiving in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations and festivities will conclude with a ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: IAN KINGTON/AFP/GettyImages)

  • Britain's Queen Elizabeth II walks down the staris next to the Dean of St. Paul's David Ison as she leaves St Paul's Cathedral after the National Service of Thanksgiving in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations and festivities will conclude with a ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: IAN KINGTON/AFP/GettyImages)

  • Britain's Queen Elizabeth II (Top C) and members of the Royal Family leave St Paul's Cathedral in London, following a service of thanksgiving on June 5, 2012, during the Queen's diamond jubilee. Queen Elizabeth II attended the final day of celebrations for her diamond jubilee Tuesday, but the pomp and splendour were marred by the absence of her husband Prince Philip after he was hospitalised. (Photo credit: JEFF J MITCHELL/AFP/GettyImages)

  • Overall inside view taken as Britain's Queen Elizabeth II (bottom) arrives at St Paul's Cathedral for National Service of Thanksgiving to celebrate the Queen's Diamond Jubilee in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations and festivities will conclude with a ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: JEFF J MITCHELL/AFP/GettyImages)

  • Britain's Prime Minister David Cameron (front R) and his wife Samantha Cameron (front L) and Deputy Prime Minister Nick Clegg (R) and his wife Miriam Gonzales leave St Paul's Cathedral after a National Service of Thanksgiving to celebrate the Queen's Diamond Jubilee in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations and festivities will conclude with a ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: STEFAN ROUSSEAU/AFP/GettyImages)

  • Diamond Jubilee celebrations

    Queen Elizabeth II holds a bouquet of flowers as she returns to Buckingham Palace after attending a National Service of Thanksgiving and a Lunch in honour of her Diamond Jubilee.

  • Diamond Jubilee celebrations

    Queen Elizabeth II, followed by the Prince of Wales, the Duchess of Cornwall, the Duchess of Cambridge and the Duke of Cambridge and Prince Harry, leave Westminster Hall at the Palace of Westminster, London, following the Diamond Jubilee Lunch.

  • Diamond Jubilee celebrations

    Queen Elizabeth II, followed by the Prince of Wales, the Duchess of Cornwall, the Duchess of Cambridge and the Duke of Cambridge and Prince Harry, leave Westminster Hall at the Palace of Westminster, London, following the Diamond Jubilee Lunch.

  • Camilla, Duchess of Cornwall attends a reception at Guildhall in central London for Queen Elizabeth II's Diamond Jubilee. (Photo credit: Chris Jackson/PA Wire)

  • Princess Beatrice (left) and Princess Eugenie leave following a service of thanksgiving, at Saint Paul's Cathedral, in central London. (Photo credit: Dominic Lipinski/PA Wire)

  • Zara Phillips leaves following a service of thanksgiving, at Saint Paul's Cathedral, in central London. (Photo credit: Dominic Lipinski/PA )

  • Prime Minister David Cameron reads during the service of thanksgiving for the Diamond Jubilee of Queen Elizabeth II, at St Paul's Cathedral, London. (Photo credit should read: Tim Ireland/PA Wire)

  • Crowds watch as the royal motorcade passes along Parliament Street, in London. (Photo credit should read: Matthew Lloyd/PA Wire)

  • A service of thanksgiving to celebrate the Diamond Jubilee of Queen Elizabeth II takes place at St Paul's Cathedral, London. (Photo credit: Murray Sanders/Daily Mail/PA Wire)

  • Prime Minister David Cameron and wife Samantha Cameron attend a service of thanksgiving to celebrate the Diamond Jubilee of Queen Elizabeth II at St Paul's Cathedral, London. (Photo credit: Murray Sanders/Daily Mail/PA Wire)

  • (left - right) Prime Minister David Cameron, chats with his wife Samantha Cameron, alongside Nick Clegg and his wife Miriam Gonzalez Durantez and Foreign Secretary, William Hague and his wife Ffion Hague, as they attend a National Service of Thanksgiving at St Paul's Cathedral in central London, as part of four days of celebrations to mark the Diamond Jubilee. (Photo credit: Joel Ryan/PA Wire)

  • Labour leader Ed Miliband attends a service of thanksgiving to celebrate the Diamond Jubilee of Queen Elizabeth II at St Paul's Cathedral, London. (Photo credit should read: Suzanne Plunkett/PA Wire)

  • Princess Eugenie attends a reception at Guildhall in central London for Queen Elizabeth II's Diamond Jubilee. (Photo credit: Chris Jackson/PA Wire)

  • Sophie, Countess of Wessex attends a reception at Guildhall in central London for Queen Elizabeth II's Diamond Jubilee. (Photo credit: Chris Jackson/PA Wire)

  • The Duchess of Cornwall and the Prince Harry, arrive at Westminster Hall at the Palace of Westminster, London, for the Queen's Diamond Jubilee Lunch. (Photo credit: Nick Ansell/PA Wire)

  • Queen Elizabeth II, followed by the Prince of Wales, the Duchess of Cornwall, the Duchess of Cambridge and the Duke of Cambridge, arrives at Westminster Hall at the Palace of Westminster, London, for the Diamond Jubilee Lunch. (Photo credit: Nick Ansell/PA Wire)

  • Queen Elizabeth II, at Westminster Hall at the Palace of Westminster, London, during her Diamond Jubilee Lunch. (Photo credit: Nick Ansell/PA Wire)

  • Prime Minister David Cameron, Samantha Cameron and Deputy Prime Minister Nick Clegg attend a service of thanksgiving to celebrate the Diamond Jubilee of Queen Elizabeth II takes place at St Paul's Cathedral, London. (Photo credit: Suzanne Plunkett/PA Wire)

  • British Chancellor of the Exchequer George Osborne (R) and his wife Frances (L) arrive for a national service of thanksgiving for the Queen's Diamond Jubilee at Saint Paul's Cathedral in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations with a thanksgiving service and ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: STEFAN ROUSSEAU/AFP/GettyImages)

  • British Foreign Secretary William Hague (L) and his wife Ffion (R) arrive for a national service of thanksgiving for the Queen's Diamond Jubilee at Saint Paul's Cathedral in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations with a thanksgiving service and ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: STEFAN ROUSSEAU/AFP/GettyImages)

  • Britain's Prince William (L) and Catherine, Duchess of Cambridge (R) leave Saint Paul's Cathedral after a national service of thanksgiving for the Queen's Diamond Jubilee in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations with a thanksgiving service and ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: IAN KINGTON/AFP/GettyImages)

  • Britain's Queen Elizabeth II (R) follows the Sword of State carried into St Paul's Cathedral for a national service of thanksgiving for the Queen's Diamond Jubilee in London on June 5, 2012. Britain's Queen Elizabeth II wraps up four days of diamond jubilee celebrations with a thanksgiving service and ceremonial carriage procession in London, a formal contrast to the spectacular pop tribute staged outside Buckingham Palace the day before. (Photo credit: JEFF J MITCHELL/AFP/GettyImages)