The U.S. preacher who used his evangelical radio network and thousands of billboards to broadcast the end of the world has died at age 92.

Family Radio Network marketing manager Nina Romero said Harold Camping died at his home on Sunday. She said he had been hospitalized after falling.

Camping was a retired civil engineer who first predicted the Rapture would happen in September 1994. When Judgment Day didn't come to pass, he blamed it on a mathematical error.

After his second failed prediction in May 2011, the preacher again revised his prophecy, saying he had been off by five months.

Camping said he felt so terrible after the cataclysmic event didn't occur in October 2011 either that he took refuge in a motel.