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arXiv 1703.04790math.STcs.SYeess.SYstat.TH
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具有非高斯量测噪声的鲁棒电力系统动态状态估计器(一)--理论

Robust Power System Dynamic State Estimator with Non-Gaussian Measurement Noise: Part I--Theory

Junbo Zhao, Lamine Mili

摘要:

本文提出了一种新的鲁棒广义最大似然型Unscented卡尔曼滤波器(GM-UKF)的理论框架和方程,该滤波器能够在滤除非高斯测量噪声的同时抑制观测和新息离群值。由于采用相量测量单元(PMU)计算的有功和无功功率测量值的误差服从长尾概率分布,传统的UKF方法依赖于加权最小二乘估计器,因此提供了强偏差的状态估计。相比之下,我们的GM-UKF的状态估计和残差被证明是大致高斯的,允许sigma点可靠地近似预测和校正的状态向量的均值和协方差阵。为了开发我们的GM-UKF,我们首先通过同时处理预测和观测来导出批处理模式回归形式,其中使用统计线性化方法。我们证明了这样导出的方程组等价于无迹变换的方程组。然后,一个强大的GM估计,最小化凸Huber费用函数,同时使用通过投影统计(PS)计算的权重。将PS应用于由连续相关的预测状态和创新向量组成的二维矩阵,以检测观察和创新离群值。GM估计器使用迭代重加权最小二乘算法来抑制这些离群值。最后,由总影响函数推导出GM-UKF状态估计的渐近误差协方差阵。在配套文件中,大量的仿真结果将被证明所提出的方法的有效性和鲁棒性。

英文摘要:

This paper develops the theoretical framework and the equations of a new robust Generalized Maximum-likelihood-type Unscented Kalman Filter (GM-UKF) that is able to suppress observation and innovation outliers while filtering out non-Gaussian measurement noise. Because the errors of the real and reactive power measurements calculated using Phasor Measurement Units (PMUs) follow long-tailed probability distributions, the conventional UKF provides strongly biased state estimates since it relies on the weighted least squares estimator. By contrast, the state estimates and residuals of our GM-UKF are proved to be roughly Gaussian, allowing the sigma points to reliably approximate the mean and the covariance matrices of the predicted and corrected state vectors. To develop our GM-UKF, we first derive a batch-mode regression form by processing the predictions and observations simultaneously, where the statistical linearization approach is used. We show that the set of equations so derived are equivalent to those of the unscented transformation. Then, a robust GM-estimator that minimizes a convex Huber cost function while using weights calculated via Projection Statistics (PS's) is proposed. The PS's are applied to a two-dimensional matrix that consists of serially correlated predicted state and innovation vectors to detect observation and innovation outliers. These outliers are suppressed by the GM-estimator using the iteratively reweighted least squares algorithm. Finally, the asymptotic error covariance matrix of the GM-UKF state estimates is derived from the total influence function. In the companion paper, extensive simulation results will be shown to verify the effectiveness and robustness of the proposed method.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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