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If he has Dementia place him this situation is not working. If he doesn't have Dementia, he needs to find a place to live. You have a right to set boundries. If he won't abide by them you have a right to ask him to find another place to live.
At his age and living in filth, I have to wonder if he has some cognitive decline going on. If this is really unhealthy and unsanitary, I think something really has to be done about it, whether he agrees to it or not. Not having ever had to deal with this myself, I am at a loss for how exactly to proceed, but I wish you the best of luck in improving this situation.
I am sorry that you have to see your father living in filth.
Have you contacted Council on Aging in your area? If dad qualifies, he can receive, light housekeeping, simple meals prepared and help with bathing, etc.