1

Abstract-- The PMU can measure voltage phasors of the

PMU node and current phasors of the correlative branch, and
voltage phasors of the correlative nodes can be calculated by
PMU measurements, so the state variable of these nodes are
known. Two ways of research on the state estimation(SE) with
PMU measurements are: one regards the PMU measurements
as normal measurements and uses them together with
SCADA measurements in the nonlinear state estimation; the
other is linear state estimation with only PMU measurements
on the condition that the system is observable fully with
PMUs. The former has not considered the PMU's ability of
measuring state variables, and the latter is difficult to realize
now.
Considering the high measurement precision and
reliability of the PMU, the paper gives a new model to regard
the state variable measured or calculated by PMU as the state
variable of nodes in the state estimation. The model can
utilize the PMU's ability of measuring state variables, reduce
the scale of estimator. The improvement of calculating timeconsuming and convergence speed in the new model is
analyzed by the simulation.
In the new SE model, the weight of PMU measurements is
assumed to be infinite, and not equal to the variance
reciprocal of measurements error, so the state estimation
precision is influenced by the weight departure of the PMU
measurements. The paper analyses and expands the new
model more deeply, and presents a double state estimation
model: at first, the nonlinear SE is done on the condition of
taking the state variable measured or calculated by PMU as
the state variable of nodes, then the linear SE is done with
both nonlinear SE results and PMU measurements. The
model adds little calculation time, but improves the SE
equations' convergence speed and estimation precision
simultaneously. The double state estimation model is
validated by the simulation.

larger because of the union of the power systems, so the

astringency ofthe SE is becoming more and more worse.
The PMU can measure the state variables of PMU nodes,
and the state variables of correlative nodes can be calculated
with PMU measurements, so the local area is observable with
PMU measurements. The paper suggests a new SE model
regarding the nodes' state variables measured or calculated
by PMU as the known state variables of these nodes in the
SE operation process, and proves that the new model can
improve the SE convergence speed, but the state estimation
precision is influence because of the PMU measurements
error. Then the paper analyses and expands the model more
deeply, and gives a double state estimation model to improve
the SE equations' convergence speed and estimation
precision simultaneously by PMU measurements, and the
model is the transition from nonlinear SE to linear SE when
the network is unobservable only with PMUs.
II. NUMERICAL STABILITY OF SE EQUATION
The nonlinear SE equation is solved by the linear iteration
thereinafter

(HTR-1H)A

HTR-Az

GAx= H TR- Az

(1)

(2)

where H is the Jacobian matrix, Ax^ is the state

correction, Az is the measurements difference value, R is
the measurement error variance matrix, G is the gain matrix
If the numerical stability of above equations is bad, the SE
equation will converge slowly, or diverge. The numerical
stability of the equation is denoted by the equation
condition number. The condition number of the SE equation
is

Cond (G) =

JIG 1 x JIG -'1

(3)

the state variable of the PMU nodes and correlative nodes,

and assume the state of these nodes is known in the state
estimation. The model will reduce the scale of estimator and
the condition number of the SE equation, and improve the SE
convergence speed.
A. Simulation on the Condition Number
The paper simulates the change of the condition number
along with the increase of PMU amount on the IEEE14-bus
system, the IEEE57-bus system and the practical 366 buses
system. The random measurement error standard deviation

4]

convergence speed of the SE, but will influence the

estimation precision.
The paper suggests a double state estimation model: at
first, the nonlinear SE is done on the condition of taking the
nodes voltage phasors measured or calculated by PMU as
the known state variable in the SE, then the linear SE is done
with both nonlinear SE results and PMU measurements.
Since the iteration is not needed in the linear SE, the
operation time is not added much in the model. The model
can improve not only the SE equations' convergence speed,
but also the estimation precision with PMU measurements.
There are two kinds of linear SE models according as the
different modes to use PMU current phasor measurements.
A. Linear SE Model 1
The linear SE model 1 uses the results (voltage amplitude
and angle of mdes) of nonlinear SE, PMU voltage and
current phasor measurements. Because the relation between
the branch current phasor and the node voltage phasor is
linear only in the right-angle coordinate, all the
measurements must be denote in the right-angle coordinate.
The measurements used in the linear SE model are: the
PMU measurements of nodes' voltage phasors

LV

PU
AI

and branches' current phasors L

nonlinear SE results

VR

and

. The measurement equation is

ISE

L1 I

]
PU
AI

L= 1+1

simulation:
Model 1: the PMU measurements are used as normal
measurements in the SE.
Model 2: the new model regarding the state variable
measured or calculated by PMU as the state variable of the
PMU nodes and correlative nodes, and assuming the state of
these nodes is known in the state estimation.
Model 3: double state estimation model with the linear SE
1.
Model 4: double state estimation model with the linear SE
2.
The index to scale SE precision is the SE error variance

improve the estimation precision by PMU measurements.

Although the estimation precision is highest if the PMU
measurements are used as normal measurements in the SE,
the PMU's ability of measuring state variables has not been
utilized, and the SE equations' convergence speed may be
not improved.

D. Transition from Nonlinear SE to Linear SE

In a PMU unobservable network, it is unpractical to do a
linear SE only with PMU measurements; regarding the PMU
measurements as general measurements, the SE model with
both PMU and SCADA measurements, can improve the
estimation precision, but does not use the characteristic of
N 1T
PMU
measurements sufficiently, it may be not helpful to the
(
(x -xi ) 2). T is the amount of
statistic Var
SE convergence speed. So the transition model from
nonlinear SE to linear SE is demanded to utilize the PMU
the measurements sample and is 100; xi is the true value of measurements.
the state variable i; Xij is the estimation value of the state
The paper suggests a double SE model with nonlinear and
linear
SE, improves not only the SE convergence speed, but
variable i in the jth time SE process.; N is the amount of
also the estimation precision by PMU measurements. In a
the state variable.
larger size power system, the double SE model has the better
Table 5, 6, and 7 show the SE precision's variation along effect. If the network is observable only by PMU
with the increase of PMU amount on the IEEE14-bus system, measurements, the double SE model will become the linear SE
the IEEE57-bus system and the practical 366 buses system.
model, and in the PMU unobservable network, it is the
It is shown: 1) the new model regarding the state variable transition model from nonlinear SE to linear SE. So the
measured or calculated by PMU as the state variable of the double SE model has the good adaptability.
PMU nodes and correlative nodes, has the worst estimation
precision. By adding the linear SE, the SE precision can be
V. CONCLUSION
improved, especially in the system with a high dimension; 2)
The paper suggests a new SE model of utilizing PMU
the double state estimation model with the linear SE 1 has the
measurements: regarding the nodes' state phasors measured
higher estimation precision than the double state estimation
or calculated by PMU as the known state variable in the SE
model with the linear SE 2; 3) the model regarding the PMU
operation process, and the simulation proves that the new
measurements as normal measurements in the SE operation
model can improve the SE equations' numerical stability and
process, has the highest estimation precision.
convergence speed, however it is not necessary to be propitious
So the estimation precision of the new model is influenced
to the estimation precision. Then the paper expands the model
because of the PMU measurements error. The double state
more deeply, and gives a double SE model. It is shown that
estimation model with the nonlinear and linear SE can
TABLE 5
THE SE ERROROF IEEE 14-BUS SYSTEM

PMU amount
Model 1
Model 2
Var
Model 3
Model 4

0
1.44E-5
1.44E-5
1.44E-5
1.44E-5

1
1.62E-5
3.97E-4
2.87E-4
3.97E-4

2
1.64E-5
3.36E-4
1.89E-4
2.99E-4

3
1.58E-5
3.49E-4
1.99E-4
3.09E-4

4
1.46E-5
3.69E-4
2.24E-4
3.32E-4

5
1.46E-5
3.74E-4
1.77E-4
3.23E-4

6
1.40E-5
4.1 1E-4
1.05E-4
3.17E-4

14
3.38E-4
1.68E-3
9.97E-4
1.56E-3

18
3.24E-4
1.74E-3
8.59E-4
1.58E-3

22
2.51E-4
1.71E-3
5.33E-4
1.45E-3

40
8.61E-4
1.22E-2

50
8.1OE-4
1.21E-2
9.51E-3
1.17E-2

60
7.59E-4
1.07E-2
7.48E-3
l.OlE-2

TABLE 6
THE SE ERROROF IEEE 57-BUS SYSTEM

PMU amount
Model 1
Model 2
Var
Model 3
Model 4

6.OOE-4
6.OOE-4
6.OOE-4
6.OOE-4

3
6.08E-4
1.86E-3
1.80E-3
1.86E-3

6
5.30E-4
1.92E-3
1.85E-3
1.92E-3

10
3.41E-4
1.71E-3
1.26E-3
1.66E-3

TABLE 7
THE SE ERROROF PRACTICAL SYSTEM

PMU amount
Model 1
Model 2
Var
Model 3
Model 4

0
3.48E-3
3.48E-3
3.48E-3
3.48E-3

10
1.67E-03
2.35E-02
2.3 IE-02
2.33E-02

20
1.26E-3
1.41E-2
1.36E-2
1.40E-2

30
1.04E-3
1.08E-2
9.48E-3
1.05E-2

l.O1E-2

1.19E-2

by simulation, the double SE model can improve the SE

equations' convergence speed and estimation precision
simultaneously by PMU measurements. Now n the PMU
unobservable network, the double SE model is the transition
from nonlinear SE to linear SE.
VI. REFERENCES
[1] Reza Ebrahimian, Ross Baldick. Sate Estimator Condition
Number Analysis. IEEE Transactions on Power Systems, 2001,
16 (2).
[2] Allemong J J, Radu 1, Sasson A M. A Fast and Reliable State
Estimation Algorithm for AEP's New Control Center. IEEE
Transactions on Power Apparatus and Systems, 1982, 101 (4).

VII. BIOGRAPHIES
Hongga Zhao was born in Shan Dong province in China, on
February 8, 1977. He graduated from the Shan Dong University and
get the PhD in December, 2004. He is employed in the Fu Jian
Province Power Company Limited. His interest of the research is the
power system automation.