A dual-rate Kalman filter for continuous glucose monitoring

Conf Proc IEEE Eng Med Biol Soc. 2006;2006:63-6. doi: 10.1109/IEMBS.2006.260057.


A dual-rate Kalman filter is developed for realtime continuous glucose monitoring. Frequent (5 minute) sampling of a noisy, continuous glucose sensor is used for estimation of glucose and its rate-of-change. Infrequent (8 hour intervals) reference glucose meter samples enable the sensor gain and its rate-of-change to be updated. The dual-rate Kalman filter formulation accounts for uncertainty in both the continuous glucose sensor and the reference glucose meter. The method is tested on simulated and experimental data, confirming its superiority to simple one-point calibration.

Publication types

  • Evaluation Study

MeSH terms

  • Blood Glucose / analysis*
  • Blood Glucose Self-Monitoring / methods*
  • Computer Systems
  • Diabetes Mellitus / blood*
  • Diabetes Mellitus / diagnosis*
  • Diagnosis, Computer-Assisted / methods*
  • Humans
  • Reproducibility of Results
  • Sensitivity and Specificity
  • Signal Processing, Computer-Assisted*


  • Blood Glucose