Apparatus and method for measuring concentrations of a chemical/biological/nuclear agent in an environment

An apparatus and method for measuring chemical, biological, and nuclear agents in an environment which includes several detectors capable of measuring concentrations of the agents and a processor capable of operating an algorithm which, based on two sequential measures of the agent's concentration, estimates decay or elevation rate of the agent's concentration and feeds this estimated change rate to a Kalman filter which predicts the next measurement. The predicted next measurement of concentration is compared with the measured concentration and the error is calculated based on the discrepancy between the measured and predicted concentrations of the agent in the environment. Using this error, the attributes of the Kalman filter are adjusted to lower noise signals and improve further predictions of the concentration of the agent during the mission time.

Patent #: 6539311 Issue Date: March 25, 2003