Method for mapping the concentration of an analyte in an environment

A method for estimating a mapping of a concentration of an analyte in an environment, using sensors distributed in the environment:

• each sensor generating a measurement of an analyte concentration at various measurement instants, the measurements carried out by each sensor at each measurement instant forming an observation vector, each term of which corresponds to a measurement arising from a sensor of the sensors;
• the environment being spatially meshed with a plurality of mesh cells, the analyte concentration at each mesh cell, at each measurement instant, forming a state vector, each term of which corresponding to an analyte concentration in a mesh cell;
• the method comprising, using a processor:
• a) obtaining a measured observation vector at a measurement instant, using the measurements performed by each sensor;
• b) obtaining a state vector at the measurement instant and, using the state vector, estimating an observation vector at the measurement instant;
• c) comparing the estimation of the observation vector, obtained in b), with the measured observation vector resulting from a), and, on the basis of the comparison, determining a global bias at the measurement instant, the global bias being a scalar representative of a comparison between several terms of the estimated observation vector and of the measured observation vector respectively,
• d) correcting the state vector obtained in b) with the global bias obtained in step c), so as to obtain a debiased state vector at the measurement instant;
• e) on the basis of the debiased state vector obtained in d), obtaining a debiased estimation of observation vector at the measurement instant;
• f) comparing the debiased estimation of the observation vector resulting from e) with the measured observation vector resulting from a), and, on the basis of the comparison, determining of a local correction vector;
• and
• g) updating the state vector at the measurement instant, the latter being replaced with a sum of the debiased state vector resulting from d) and the local correction vector resulting from f), the updating of the state vector making it possible to estimate the mapping of the concentration of the analyte in various mesh cells.