WO2016078477A1 - Transformer substation three-phase linear generalized state estimation method - Google Patents

Transformer substation three-phase linear generalized state estimation method Download PDF

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WO2016078477A1
WO2016078477A1 PCT/CN2015/090854 CN2015090854W WO2016078477A1 WO 2016078477 A1 WO2016078477 A1 WO 2016078477A1 CN 2015090854 W CN2015090854 W CN 2015090854W WO 2016078477 A1 WO2016078477 A1 WO 2016078477A1
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measurement
switch
node
state estimation
phase
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PCT/CN2015/090854
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Chinese (zh)
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张婷
翟明玉
张海滨
齐苗苗
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国电南瑞科技股份有限公司
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
    • G16Z99/00—Subject matter not provided for in other main groups of this subclass
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation

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  • the power system state estimation uses the measured data collected by the substation to estimate or predict the operating state of the power system. State estimation is the basis of the information processing stage in the energy management system, which directly affects the decision-making of the control center and is related to the safe and stable operation of the power grid.
  • the traditional state estimation ignores the interaction between the analog data, the switch quantity and the network parameters. It is assumed that the switch state and the network parameters are correct before the state estimation. When these assumptions are not established, serious errors will result.
  • the generalized state estimation method of substation has the advantages of small network scale and high data redundancy.
  • the generalized state estimation of substation is used as the pre-processing stage before the state estimation of the control center. To provide more accurate basic data for the control center, it needs to have fast and reliable characteristics, and the existing generalized state estimation method is not available.
  • the present invention provides a three-phase linear generalized state estimation method for a substation, which has small calculation scale, low complexity, fast calculation, and improved reliability.
  • a three-phase linear generalized state estimation method for a substation comprising the following steps,
  • Step 3 ignoring the three-phase mutual inductance between the zero-impedance branches in the b-th voltage level, establishing a phase-separated zero-impedance network as a network model for the three-phase linear generalized state estimation of the substation, and proceeding to step 4;
  • Step 5 performing state estimation on the a-phase split zero impedance network, and proceeding to step 6;
  • Step 6 calculating the standardized residual of each measurement by using the state variable value obtained by the state estimation, and proceeding to step 7;
  • step 7 the absolute value of the absolute value of the residual is compared with the threshold of the detection. If the threshold value is exceeded, the data is determined to have bad data. If there is bad data, the amount corresponding to the residual is removed, and then steps 5 to 7 are repeated. , until the absolute value of the absolute value of the residual obtained by the loop is less than or equal to the detection threshold, and proceeds to step eight;
  • Step 8 judging whether the punctured quantity measurement includes a pseudo-measurement of the switch remote signal, if it is included, determining that the switch remote signal is incorrect, if not, the switch remote signal is correct, and the process proceeds to step IX;
  • the state estimation is based on the collected measurement data. On each phase-separated zero-impedance network, all the linear measurement equations are established by using the voltage of each node and the power flowing through each switch branch as state variables. Estimate the measurement equations and obtain the state variable values.
  • the measurement equation includes a node voltage measurement equation, a switching power measurement equation, a node injection power measurement equation, and a switch state pseudo-measurement equation.
  • the switching state pseudo-measurement equation is as follows,
  • r is the residual vector
  • r T is the transpose of the residual vector
  • R -1 is the weight matrix
  • z is the measurement vector
  • H is the coefficient matrix of the measurement equation
  • x is the state variable to be calculated
  • a three-phase linear generalized state estimation method for a substation includes the following steps:
  • Step 3 ignoring the three-phase mutual inductance between the zero-impedance branches in the b-th voltage level, and establishing a phase-separated zero-impedance network as a network model for the three-phase linear generalized state estimation of the substation, and moving to step four.
  • Step 5 Perform state estimation on the a-phase split zero impedance network, and go to step 6.
  • the state estimation is based on the collected measurement data. On each phase-separated zero-impedance network, the voltage of each node and the power flowing through each switch branch are used as state variables, and all linear measurement equations are established. Estimate the calculation and find the state variable value.
  • the measurement data includes data collected by the measurement and control device, data collected by the phasor measurement unit, and data collected by the protection device.
  • the data collected by the PMU includes the voltage amplitude of the node i. Voltage phase angle of node i Active power flowing over the switching branch ij Reactive power flowing over the switching branch ij Active power injected by node i Reactive power injected by node i And switch the remote signal value C pmu .
  • the data collected by the protection device includes the active power flowing through the switch branch ij Reactive power flowing over the switching branch ij And switch remote signal data C pro .
  • the established measurement equations include the node voltage measurement equation, the switching power measurement equation, the node injection power measurement equation, and the switch state pseudo-measurement equation.
  • the active power and the reactive power flowing through the switch branch ij are the active and reactive power pseudo-measures on the switch branch ij, respectively, and their values should be zero; for Measurement error, ⁇ oqij is Measurement error.
  • I is the identity matrix
  • a 1 , A 2 , A 3 , A 4 , A 5 , and A 6 are all coefficient matrices
  • x V , x ⁇ , x P , and x Q all represent various state variable vectors. They are all kinds of measurement vectors, ⁇ V , ⁇ ⁇ , ⁇ P , ⁇ Q , ⁇ op , ⁇ oq , ⁇ cv , ⁇ c ⁇ are measurement error vectors corresponding to various quantity measurements;
  • the objective function of the state estimation is to find the minimum of the following formula:
  • the estimated value of the state variable according to the optimization formula The state variable value can be calculated according to this formula.
  • Step 6 Calculate the standardized residual of each measurement by using the state variable value obtained by the state estimation, and go to step 7.
  • step 7 the absolute value of the absolute value of the residual is compared with the threshold of the detection. If the threshold value is exceeded, the data is determined to have bad data. If there is bad data, the amount corresponding to the residual is removed, and then steps 5 to 7 are repeated. Until the absolute value of the absolute value of the residual obtained by the loop is less than or equal to the detection threshold, go to step 8.
  • Step 8 Determine whether the cull measurement includes the pseudo-measurement of the switch remote signal. If it is included, judge the switch remote signal error. If not, the switch remote signal is correct, and go to step 9.
  • the state estimation of the above method is carried out in a phase-separated zero-impedance network with small calculation scale and low computational difficulty.
  • the method improves the state estimation by using three-phase multi-source real-time data from the measurement and control device, the phasor measurement unit and the protection device. Data redundancy and computational reliability; the measurement equations established by this method are linear, and the calculation does not require iteration, so the estimation calculation is simple and fast; the switch state pseudo-measurement equation established by the method participates in state estimation together, using the maximum residue
  • the difference method is used to identify bad data and realize the synchronous identification of bad data and topological errors. This method solves the bad data and topology errors in the substation, and improves the more accurate basic data for the control center, which significantly reduces the state estimation of the control center. The amount of calculation increases the reliability.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Remote Monitoring And Control Of Power-Distribution Networks (AREA)
  • Supply And Distribution Of Alternating Current (AREA)

Abstract

A transformer substation three-phase linear generalized state estimation method, comprising: establishing a linear measurement equation and an on-off state pseudo measurement equation based on split-phase zero impedance network by using three-phase multisource real-time data from a measurement and control device, phasor measurement unit and protective device to participate in the state estimation together; identifying bad data with the maximum residual error method, and simultaneously identifying topology errors. The method improves data redundancy and calculation reliability for state estimation and eliminates the need for iterative calculation, and resolves the bad data and topology error within the transformer substation, thus providing more accurate basic data and reducing state estimation calculation for a regulation and control center.

Description

一种变电站三相线性广义状态估计方法A three-phase linear generalized state estimation method for substation 技术领域Technical field
本发明涉及一种变电站三相线性广义状态估计方法，属于变电站自动化领域。The invention relates to a three-phase linear generalized state estimation method for a substation, and belongs to the field of substation automation.
背景技术Background technique
电力系统状态估计利用变电站采集的量测数据，估计或预报电力系统的运行状态。状态估计是能量管理系统中信息处理阶段的基础，直接影响到调控中心的决策，关系到电网的安全稳定运行。传统状态估计忽略了模拟量、开关量和网络参数三种数据之间的相互影响，状态估计前假设开关状态和网络参数为正确，当这些假设不成立的时候，将会导致严重错误。The power system state estimation uses the measured data collected by the substation to estimate or predict the operating state of the power system. State estimation is the basis of the information processing stage in the energy management system, which directly affects the decision-making of the control center and is related to the safe and stable operation of the power grid. The traditional state estimation ignores the interaction between the analog data, the switch quantity and the network parameters. It is assumed that the switch state and the network parameters are correct before the state estimation. When these assumptions are not established, serious errors will result.
广义状态估计方法对可疑变电站进行详细建模，将网络拓扑、网络参数同模拟量一起作为状态变量参与状态估计，避免了拓扑错误和参数错误带来的不良影响。但是在广义状态估计中，采用的是以有阻抗元件和零阻抗元件共同构成的网络，因此不可避免地存在着计算规模大、复杂度高等问题。变电站广义状态估计方法将零阻抗元件从广义电力网络中解耦出来，其研究对象是变电站面向开关的物理模型，另外变电站内测控装置、相量量测单元(PMU)、保护装置和其他智能电子设备等也可以提供更丰富的量测信息。因此变电站广义状态估计方法具有网络规模小、数据冗余度高的优点。变电站广义状态估计作为调控中心状态估计前的预处理阶段，要为调控中心提供更加精确的基础数据，需要具备快速可靠的特性，而该特性现有广义状态估计方法也不具备。The generalized state estimation method is used to model the suspicious substation in detail, and the network topology and network parameters are used together with the analog quantity as state variables to participate in state estimation, which avoids the adverse effects caused by topology errors and parameter errors. However, in the generalized state estimation, a network composed of an impedance element and a zero-impedance element is used, and thus there are inevitably problems such as large calculation scale and high complexity. The substation generalized state estimation method decouples the zero-impedance component from the generalized power network. The research object is the physical model of the substation facing the switch. In addition, the substation internal measurement and control device, phasor measurement unit (PMU), protection device and other intelligent electronics Equipment, etc. can also provide more extensive measurement information. Therefore, the generalized state estimation method of substation has the advantages of small network scale and high data redundancy. The generalized state estimation of substation is used as the pre-processing stage before the state estimation of the control center. To provide more accurate basic data for the control center, it needs to have fast and reliable characteristics, and the existing generalized state estimation method is not available.
发明内容 Summary of the invention
为了解决上述技术问题，本发明提供了一种变电站三相线性广义状态估计方法，计算规模小，复杂度低，计算快速，同时提高了可靠性。In order to solve the above technical problem, the present invention provides a three-phase linear generalized state estimation method for a substation, which has small calculation scale, low complexity, fast calculation, and improved reliability.
为了达到上述目的，本发明所采用的技术方案是：In order to achieve the above object, the technical solution adopted by the present invention is:
一种变电站三相线性广义状态估计方法，包括以下步骤，A three-phase linear generalized state estimation method for a substation, comprising the following steps,
步骤一，以变压器为界，将变电站分为n个电压等级，在各电压等级中，将零阻抗支路形成零阻抗网络，n为正整数，转至步骤二；Step one, taking the transformer as the boundary, dividing the substation into n voltage levels, and in each voltage level, forming a zero-impedance branch into a zero-impedance network, n being a positive integer, and proceeding to step 2;
步骤二，定义b＝1，转至步骤三；Step two, define b=1, and go to step three;
步骤三，忽略第b个电压等级中零阻抗支路之间的三相相间互感，建立分相零阻抗网络作为变电站三相线性广义状态估计的网络模型，转至步骤四；Step 3, ignoring the three-phase mutual inductance between the zero-impedance branches in the b-th voltage level, establishing a phase-separated zero-impedance network as a network model for the three-phase linear generalized state estimation of the substation, and proceeding to step 4;
步骤四，定义a＝1，转至步骤五；Step four, define a=1, go to step five;
步骤五，对第a个分相零阻抗网络进行状态估计，转至步骤六；Step 5, performing state estimation on the a-phase split zero impedance network, and proceeding to step 6;
步骤六，利用状态估计获得的状态变量值计算各量测的标准化残差，转至步骤七；Step 6: calculating the standardized residual of each measurement by using the state variable value obtained by the state estimation, and proceeding to step 7;
步骤七，将残差绝对值最大值与检测门槛值比较，若超过门槛值则判定为有不良数据，如果有不良数据，则剔除该残差所对应的量测量，然后重复步骤五至步骤七，直至循环获得的残差绝对值最大值小于等于检测门槛值，转至步骤八；In step 7, the absolute value of the absolute value of the residual is compared with the threshold of the detection. If the threshold value is exceeded, the data is determined to have bad data. If there is bad data, the amount corresponding to the residual is removed, and then steps 5 to 7 are repeated. , until the absolute value of the absolute value of the residual obtained by the loop is less than or equal to the detection threshold, and proceeds to step eight;
步骤八，判断剔除的量测量中是否包含开关遥信的伪量测，如果包含则判断开关遥信错误，如果不包含则开关遥信正确，转至步骤九；Step 8: judging whether the punctured quantity measurement includes a pseudo-measurement of the switch remote signal, if it is included, determining that the switch remote signal is incorrect, if not, the switch remote signal is correct, and the process proceeds to step IX;
步骤九，判断a是否小于3，如果是则a＝a+1，转至步骤五，如果不是则转至步骤十；Step 9: Determine whether a is less than 3, if yes, a=a+1, go to step 5, if not, go to step 10;
步骤十，判断b是否小于n，如果是则b＝b+1，重复步骤三至步骤十，如果 不是则结束。Step 10, determine whether b is less than n, if yes b=b+1, repeat steps 3 to 10, if It is not the end.
所述状态估计是利用采集的量测数据，在每个分相零阻抗网络上，以各节点的电压以及各开关支路上流过的功率为状态变量，建立起全部为线性的量测方程组，对量测方程组进行估计计算，求得状态变量值。The state estimation is based on the collected measurement data. On each phase-separated zero-impedance network, all the linear measurement equations are established by using the voltage of each node and the power flowing through each switch branch as state variables. Estimate the measurement equations and obtain the state variable values.
所述量测数据包括测控装置采集的数据、相量量测单元采集的数据以及保护装置采集的数据；所述测控装置采集的数据包括节点i的电压幅值
Figure PCTCN2015090854-appb-000001
开关支路i-j上流过的有功功率
Figure PCTCN2015090854-appb-000002
开关支路i-j上流过的无功功率
Figure PCTCN2015090854-appb-000003
节点i注入的有功功率
Figure PCTCN2015090854-appb-000004
节点i注入的无功功率
Figure PCTCN2015090854-appb-000005
以及开关遥信值Csca；所述相量量测单元采集的数据包括节点i的电压幅值
Figure PCTCN2015090854-appb-000006
节点i的电压相角
Figure PCTCN2015090854-appb-000007
开关支路i-j上流过的有功功率
Figure PCTCN2015090854-appb-000008
开关支路i-j上流过的无功功率
Figure PCTCN2015090854-appb-000009
节点i注入的有功功率
Figure PCTCN2015090854-appb-000010
节点i注入的无功功率
Figure PCTCN2015090854-appb-000011
以及开关遥信值Cpmu；所述保护装置采集的数据包括开关支路i-j上流过的有功功率
Figure PCTCN2015090854-appb-000012
开关支路i-j上流过的无功功率
Figure PCTCN2015090854-appb-000013
以及开关遥信数据Cpro。The measurement data includes data collected by the measurement and control device, data collected by the phasor measurement unit, and data collected by the protection device; the data collected by the measurement and control device includes the voltage amplitude of the node i
Figure PCTCN2015090854-appb-000001
Active power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000002
Reactive power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000003
Active power injected by node i
Figure PCTCN2015090854-appb-000004
Reactive power injected by node i
Figure PCTCN2015090854-appb-000005
And a switch remote signal value C sca ; the data collected by the phasor measurement unit includes the voltage amplitude of the node i
Figure PCTCN2015090854-appb-000006
Voltage phase angle of node i
Figure PCTCN2015090854-appb-000007
Active power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000008
Reactive power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000009
Active power injected by node i
Figure PCTCN2015090854-appb-000010
Reactive power injected by node i
Figure PCTCN2015090854-appb-000011
And the switch remote signal value C pmu ; the data collected by the protection device includes the active power flowing through the switch branch ij
Figure PCTCN2015090854-appb-000012
Reactive power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000013
And switch remote signal data C pro .
所述量测方程包括节点电压量测方程、开关功率量测方程、节点注入功率量测方程和开关状态伪量测方程。The measurement equation includes a node voltage measurement equation, a switching power measurement equation, a node injection power measurement equation, and a switch state pseudo-measurement equation.
所述开关状态伪量测方程如下，The switching state pseudo-measurement equation is as follows,
若开关支路i-j上的开关遥信为断开，开关支路上的功率为0，则开关状 态伪量测方程为，If the switch remote signal on the switch branch i-j is off, the power on the switch branch is 0, then the switch is State pseudo-measurement equation,
Figure PCTCN2015090854-appb-000014
Figure PCTCN2015090854-appb-000014
Figure PCTCN2015090854-appb-000015
Figure PCTCN2015090854-appb-000015
其中，状态变量
Figure PCTCN2015090854-appb-000016
分别为开关支路i-j上流过的有功功率和无功功率；
Figure PCTCN2015090854-appb-000017
分别是开关支路i-j上的有功和无功功率伪量测，其值应为零；
Figure PCTCN2015090854-appb-000018
为
Figure PCTCN2015090854-appb-000019
的量测误差，υoqij为
Figure PCTCN2015090854-appb-000020
的量测误差。Where the state variable
Figure PCTCN2015090854-appb-000016
The active power and reactive power flowing through the switch branch ij respectively;
Figure PCTCN2015090854-appb-000017
They are the active and reactive power pseudo-measures on the switch branch ij, respectively, and their values should be zero;
Figure PCTCN2015090854-appb-000018
for
Figure PCTCN2015090854-appb-000019
Measurement error, υ oqij is
Figure PCTCN2015090854-appb-000020
Measurement error.
若上的开关遥信为闭合，开关支路两端电压差
Figure PCTCN2015090854-appb-000021
为0，则开关状态伪量测方程为，If the upper switch is closed, the voltage difference between the switch branches
Figure PCTCN2015090854-appb-000021
Is 0, then the switch state pseudo-measurement equation is,
Figure PCTCN2015090854-appb-000022
Figure PCTCN2015090854-appb-000022
Figure PCTCN2015090854-appb-000023
Figure PCTCN2015090854-appb-000023
其中，状态变量
Figure PCTCN2015090854-appb-000024
为节点i的电压幅值，
Figure PCTCN2015090854-appb-000025
为节点j的电压幅值，
Figure PCTCN2015090854-appb-000026
为节点i的电压相角，
Figure PCTCN2015090854-appb-000027
为节点j的电压相角；
Figure PCTCN2015090854-appb-000028
分别是开关支路i-j两端的电压幅值差和相角差伪量测，其值应为零，υcvij为
Figure PCTCN2015090854-appb-000029
的量测误差，υcθij为
Figure PCTCN2015090854-appb-000030
的量测误差。Where the state variable
Figure PCTCN2015090854-appb-000024
For the voltage amplitude of node i,
Figure PCTCN2015090854-appb-000025
For the voltage amplitude of node j,
Figure PCTCN2015090854-appb-000026
Is the voltage phase angle of node i,
Figure PCTCN2015090854-appb-000027
Is the voltage phase angle of node j;
Figure PCTCN2015090854-appb-000028
They are the voltage amplitude difference and phase angle difference pseudo-measures at both ends of the switch branch ij, and the value should be zero, υ cvij is
Figure PCTCN2015090854-appb-000029
Measurement error, υ cθij is
Figure PCTCN2015090854-appb-000030
Measurement error.
由于量测方程组中的方程均为线性，因此可将量测方程组写成如下矩阵形式， Since the equations in the measurement equations are linear, the system of measurement equations can be written in the following matrix form.
Figure PCTCN2015090854-appb-000031
Figure PCTCN2015090854-appb-000031
其中，I为单位矩阵，A1、A2、A3、A4、A5、A6均为系数矩阵，xV、xθ、xP、xQ均表示各类状态变量向量，
Figure PCTCN2015090854-appb-000032
均是各类量测量向量，υV、υθ、υP、υQ、
Figure PCTCN2015090854-appb-000033
υop、υoq、υcv、υcθ是各类量测量对应的量测误差向量；Where I is the identity matrix, A 1 , A 2 , A 3 , A 4 , A 5 , and A 6 are all coefficient matrices, and x V , x θ , x P , and x Q all represent various state variable vectors.
Figure PCTCN2015090854-appb-000032
They are all kinds of measurement vectors, υ V , υ θ , υ P , υ Q,
Figure PCTCN2015090854-appb-000033
υ op , υ oq , υ cv , υ cθ are measurement error vectors corresponding to various quantity measurements;
状态估计的目标函数是求下述公式的最小值：The objective function of the state estimation is to find the minimum of the following formula:
min J(x)＝rTR-1r＝(z-Hx)TR-1(z-Hx)Min J(x)=r T R -1 r=(z-Hx) T R -1 (z-Hx)
其中r是残差向量，rT是残差向量的转置，R-1是权重矩阵，z是量测向量，H是量测方程系数矩阵，x表示需计算的状态变量；Where r is the residual vector, r T is the transpose of the residual vector, R -1 is the weight matrix, z is the measurement vector, H is the coefficient matrix of the measurement equation, and x is the state variable to be calculated;
根据优化公式得状态变量的估计值为
Figure PCTCN2015090854-appb-000034
The estimated value of the state variable according to the optimization formula
Figure PCTCN2015090854-appb-000034
本发明所达到的有益效果：1、本发明的状态估计在分相零阻抗网络中进行，计算规模小，计算难度低；2、利用来自测控装置、相量量测单元和保护装置的三相多源实时数据，提高了状态估计的数据冗余度和计算可靠性；3、建立的量测方程均为线性的，计算无需迭代，因此估计计算简单快速；4、建立开关状态伪量测方程，一起参与状态估计，利用最大残差法进行不良数据辨识，实现了 模拟量不良数据和拓扑错误的同步辨识；5、本发明将不良数据和拓扑错误解决在变电站内，为调控中心提高更精确的基础数据，显著减少了调控中心状态估计的计算量，提高了可靠性。The beneficial effects achieved by the invention are as follows: 1. The state estimation of the invention is carried out in a phase-separated zero-impedance network, the calculation scale is small, and the calculation difficulty is low; 2. The three-phase from the measurement and control device, the phasor measurement unit and the protection device are utilized. Multi-source real-time data improves the data redundancy and computational reliability of state estimation; 3. The established measurement equations are linear, and the calculation does not need iteration, so the estimation calculation is simple and fast; 4. Establish the switch state pseudo-measurement equation Participate in state estimation together, use the maximum residual method to identify bad data, and realize Simultaneous identification of analog bad data and topological errors; 5. The invention solves the bad data and topological errors in the substation, improves the more accurate basic data for the control center, significantly reduces the calculation amount of the state estimation of the control center, and improves the reliability. Sex.
附图说明DRAWINGS
图1为本发明的流程图。Figure 1 is a flow chart of the present invention.
具体实施方式detailed description
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The invention is further described below in conjunction with the drawings. The following examples are only intended to more clearly illustrate the technical solutions of the present invention, and are not intended to limit the scope of the present invention.
如图1所示，一种变电站三相线性广义状态估计方法，包括以下步骤：As shown in FIG. 1 , a three-phase linear generalized state estimation method for a substation includes the following steps:
步骤一，以变压器为界，将变电站分为n个电压等级，在各电压等级中，将零阻抗支路形成零阻抗网络，n为正整数，转至步骤二。 Step 1, taking the transformer as the boundary, divide the substation into n voltage levels. In each voltage level, the zero impedance branch forms a zero impedance network, n is a positive integer, and proceeds to step 2.
步骤二，定义b＝1，转至步骤三。Step 2, define b=1, and go to step 3.
步骤三，忽略第b个电压等级中零阻抗支路之间的三相相间互感，建立分相零阻抗网络作为变电站三相线性广义状态估计的网络模型，转至步骤四。Step 3, ignoring the three-phase mutual inductance between the zero-impedance branches in the b-th voltage level, and establishing a phase-separated zero-impedance network as a network model for the three-phase linear generalized state estimation of the substation, and moving to step four.
步骤四，定义a＝1，转至步骤五。Step 4, define a=1, and go to step 5.
步骤五，对第a个分相零阻抗网络进行状态估计，转至步骤六。Step 5: Perform state estimation on the a-phase split zero impedance network, and go to step 6.
状态估计是利用采集的量测数据，在每个分相零阻抗网络上，以各节点的电压以及各开关支路上流过的功率为状态变量，建立起全部为线性的量测方程组，通过估计计算，求得状态变量值。The state estimation is based on the collected measurement data. On each phase-separated zero-impedance network, the voltage of each node and the power flowing through each switch branch are used as state variables, and all linear measurement equations are established. Estimate the calculation and find the state variable value.
量测数据包括测控装置采集的数据、相量量测单元采集的数据以及保护装置采集的数据。The measurement data includes data collected by the measurement and control device, data collected by the phasor measurement unit, and data collected by the protection device.
测控装置采集的数据包括节点i的电压幅值
Figure PCTCN2015090854-appb-000035
开关支路i-j上流 过的有功功率
Figure PCTCN2015090854-appb-000036
开关支路i-j上流过的无功功率
Figure PCTCN2015090854-appb-000037
节点i注入的有功功率
Figure PCTCN2015090854-appb-000038
节点i注入的无功功率
Figure PCTCN2015090854-appb-000039
以及开关遥信值Csca。The data collected by the measurement and control device includes the voltage amplitude of the node i.
Figure PCTCN2015090854-appb-000035
Active power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000036
Reactive power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000037
Active power injected by node i
Figure PCTCN2015090854-appb-000038
Reactive power injected by node i
Figure PCTCN2015090854-appb-000039
And switch the remote signal value C sca .
PMU采集的数据包括节点i的电压幅值
Figure PCTCN2015090854-appb-000040
节点i的电压相角
Figure PCTCN2015090854-appb-000041
开关支路i-j上流过的有功功率
Figure PCTCN2015090854-appb-000042
开关支路i-j上流过的无功功率
Figure PCTCN2015090854-appb-000043
节点i注入的有功功率
Figure PCTCN2015090854-appb-000044
节点i注入的无功功率
Figure PCTCN2015090854-appb-000045
以及开关遥信值Cpmu。The data collected by the PMU includes the voltage amplitude of the node i.
Figure PCTCN2015090854-appb-000040
Voltage phase angle of node i
Figure PCTCN2015090854-appb-000041
Active power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000042
Reactive power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000043
Active power injected by node i
Figure PCTCN2015090854-appb-000044
Reactive power injected by node i
Figure PCTCN2015090854-appb-000045
And switch the remote signal value C pmu .
保护装置采集的数据包括开关支路i-j上流过的有功功率
Figure PCTCN2015090854-appb-000046
开关支路i-j上流过的无功功率
Figure PCTCN2015090854-appb-000047
以及开关遥信数据Cpro。The data collected by the protection device includes the active power flowing through the switch branch ij
Figure PCTCN2015090854-appb-000046
Reactive power flowing over the switching branch ij
Figure PCTCN2015090854-appb-000047
And switch remote signal data C pro .
建立的量测方程包括节点电压量测方程、开关功率量测方程、节点注入功率量测方程和开关状态伪量测方程。The established measurement equations include the node voltage measurement equation, the switching power measurement equation, the node injection power measurement equation, and the switch state pseudo-measurement equation.
开关状态伪量测方程如下，The switch state pseudo-measurement equation is as follows,
若开关支路i-j上的开关遥信为断开，开关支路上的功率为0，则开关状态伪量测方程为，If the switch remote signal on the switch branch i-j is off and the power on the switch branch is 0, the switch state pseudo-measurement equation is
Figure PCTCN2015090854-appb-000048
Figure PCTCN2015090854-appb-000048
Figure PCTCN2015090854-appb-000049
Figure PCTCN2015090854-appb-000049
其中，状态变量
Figure PCTCN2015090854-appb-000050
分别为开关支路i-j上流过的有功功率和无功 功率；
Figure PCTCN2015090854-appb-000051
分别是开关支路i-j上的有功和无功功率伪量测，其值应为零；
Figure PCTCN2015090854-appb-000052
为
Figure PCTCN2015090854-appb-000053
的量测误差，υoqij为
Figure PCTCN2015090854-appb-000054
的量测误差。Where the state variable
Figure PCTCN2015090854-appb-000050
The active power and the reactive power flowing through the switch branch ij respectively;
Figure PCTCN2015090854-appb-000051
They are the active and reactive power pseudo-measures on the switch branch ij, respectively, and their values should be zero;
Figure PCTCN2015090854-appb-000052
for
Figure PCTCN2015090854-appb-000053
Measurement error, υ oqij is
Figure PCTCN2015090854-appb-000054
Measurement error.
若上的开关遥信为闭合，开关支路两端电压差
Figure PCTCN2015090854-appb-000055
为0，则开关状态伪量测方程为，If the upper switch is closed, the voltage difference between the switch branches
Figure PCTCN2015090854-appb-000055
Is 0, then the switch state pseudo-measurement equation is,
Figure PCTCN2015090854-appb-000056
Figure PCTCN2015090854-appb-000056
Figure PCTCN2015090854-appb-000057
Figure PCTCN2015090854-appb-000057
其中，状态变量
Figure PCTCN2015090854-appb-000058
为节点i的电压幅值，
Figure PCTCN2015090854-appb-000059
为节点j的电压幅值，
Figure PCTCN2015090854-appb-000060
为节点i的电压相角，
Figure PCTCN2015090854-appb-000061
为节点j的电压相角；
Figure PCTCN2015090854-appb-000062
分别是开关支路i-j两端的电压幅值差和相角差伪量测，其值应为零，υcvij为
Figure PCTCN2015090854-appb-000063
的量测误差，υcθij为
Figure PCTCN2015090854-appb-000064
的量测误差。Where the state variable
Figure PCTCN2015090854-appb-000058
For the voltage amplitude of node i,
Figure PCTCN2015090854-appb-000059
For the voltage amplitude of node j,
Figure PCTCN2015090854-appb-000060
Is the voltage phase angle of node i,
Figure PCTCN2015090854-appb-000061
Is the voltage phase angle of node j;
Figure PCTCN2015090854-appb-000062
They are the voltage amplitude difference and phase angle difference pseudo-measures at both ends of the switch branch ij, and the value should be zero, υ cvij is
Figure PCTCN2015090854-appb-000063
Measurement error, υ cθij is
Figure PCTCN2015090854-appb-000064
Measurement error.
由于上述建立的量测方程均为线性的，所以其构成的量测方程组写成如下矩阵形式，Since the measurement equations established above are all linear, the composition of the measurement equations is written in the following matrix form.
Figure PCTCN2015090854-appb-000065
Figure PCTCN2015090854-appb-000065
其中，I为单位矩阵，A1、A2、A3、A4、A5、A6均为系数矩阵，xV、xθ、xP、xQ均表示各类状态变量向量，
Figure PCTCN2015090854-appb-000066
均是各类量测量向量，υV、υθ、υP、υQ、
Figure PCTCN2015090854-appb-000067
υop、υoq、υcv、υcθ是各类量测量对应的量测误差向量；Where I is the identity matrix, A 1 , A 2 , A 3 , A 4 , A 5 , and A 6 are all coefficient matrices, and x V , x θ , x P , and x Q all represent various state variable vectors.
Figure PCTCN2015090854-appb-000066
They are all kinds of measurement vectors, υ V , υ θ , υ P , υ Q ,
Figure PCTCN2015090854-appb-000067
υ op , υ oq , υ cv , υ cθ are measurement error vectors corresponding to various quantity measurements;
状态估计的目标函数是求下述公式的最小值：The objective function of the state estimation is to find the minimum of the following formula:
min J(x)＝rTR-1r＝(z-Hx)TR-1(z-Hx)Min J(x)=r T R -1 r=(z-Hx) T R -1 (z-Hx)
其中r是残差向量，rT是残差向量的转置，R-1是权重矩阵，z是量测向量，H是量测方程系数矩阵，x表示需计算的状态变量；Where r is the residual vector, r T is the transpose of the residual vector, R -1 is the weight matrix, z is the measurement vector, H is the coefficient matrix of the measurement equation, and x is the state variable to be calculated;
根据优化公式得状态变量的估计值为
Figure PCTCN2015090854-appb-000068
可根据该公式计算状态变量值。The estimated value of the state variable according to the optimization formula
Figure PCTCN2015090854-appb-000068
The state variable value can be calculated according to this formula.
步骤六，利用状态估计获得的状态变量值计算各量测的标准化残差，转至步骤七。Step 6: Calculate the standardized residual of each measurement by using the state variable value obtained by the state estimation, and go to step 7.
步骤七，将残差绝对值最大值与检测门槛值比较，若超过门槛值则判定为有不良数据，如果有不良数据，则剔除该残差所对应的量测量，然后重复步骤五至步骤七，直至循环获得的残差绝对值最大值小于等于检测门槛值，转至步骤八。In step 7, the absolute value of the absolute value of the residual is compared with the threshold of the detection. If the threshold value is exceeded, the data is determined to have bad data. If there is bad data, the amount corresponding to the residual is removed, and then steps 5 to 7 are repeated. Until the absolute value of the absolute value of the residual obtained by the loop is less than or equal to the detection threshold, go to step 8.
步骤八，判断剔除的量测量中是否包含开关遥信的伪量测，如果包含则判断开关遥信错误，如果不包含则开关遥信正确，转至步骤九。Step 8: Determine whether the cull measurement includes the pseudo-measurement of the switch remote signal. If it is included, judge the switch remote signal error. If not, the switch remote signal is correct, and go to step 9.
步骤九，判断a是否小于3，如果是则a＝a+1，转至步骤五，如果不是则转至步骤十。In step IX, it is judged whether a is less than 3, if yes, a=a+1, go to step 5, if not, go to step 10.
步骤十，判断b是否小于n，如果是则b＝b+1，重复步骤三至步骤十，如果 不是则结束。Step 10, determine whether b is less than n, if yes b=b+1, repeat steps 3 to 10, if It is not the end.
上述方法的状态估计在分相零阻抗网络中进行，计算规模小，计算难度低；该方法利用来自测控装置、相量量测单元和保护装置的三相多源实时数据，提高了状态估计的数据冗余度和计算可靠性；该方法建立的量测方程均为线性的，计算无需迭代，因此估计计算简单快速；该方法建立的开关状态伪量测方程，一起参与状态估计，利用最大残差法进行不良数据辨识，实现了模拟量不良数据和拓扑错误的同步辨识；该方法将不良数据和拓扑错误解决在变电站内，为调控中心提高更精确的基础数据，显著减少了调控中心状态估计的计算量，提高了可靠性。The state estimation of the above method is carried out in a phase-separated zero-impedance network with small calculation scale and low computational difficulty. The method improves the state estimation by using three-phase multi-source real-time data from the measurement and control device, the phasor measurement unit and the protection device. Data redundancy and computational reliability; the measurement equations established by this method are linear, and the calculation does not require iteration, so the estimation calculation is simple and fast; the switch state pseudo-measurement equation established by the method participates in state estimation together, using the maximum residue The difference method is used to identify bad data and realize the synchronous identification of bad data and topological errors. This method solves the bad data and topology errors in the substation, and improves the more accurate basic data for the control center, which significantly reduces the state estimation of the control center. The amount of calculation increases the reliability.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。 The above is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention. It should also be considered as the scope of protection of the present invention.

Claims (6)

  1. 一种变电站三相线性广义状态估计方法，其特征在于：包括以下步骤，A three-phase linear generalized state estimation method for substation, characterized in that the method comprises the following steps:
    步骤一，以变压器为界，将变电站分为n个电压等级，在各电压等级中，将零阻抗支路形成零阻抗网络，n为正整数，转至步骤二；Step one, taking the transformer as the boundary, dividing the substation into n voltage levels, and in each voltage level, forming a zero-impedance branch into a zero-impedance network, n being a positive integer, and proceeding to step 2;
    步骤二，定义b＝1，转至步骤三；Step two, define b=1, and go to step three;
    步骤三，忽略第b个电压等级中零阻抗支路之间的三相相间互感，建立分相零阻抗网络作为变电站三相线性广义状态估计的网络模型，转至步骤四；Step 3, ignoring the three-phase mutual inductance between the zero-impedance branches in the b-th voltage level, establishing a phase-separated zero-impedance network as a network model for the three-phase linear generalized state estimation of the substation, and proceeding to step 4;
    步骤四，定义a＝1，转至步骤五；Step four, define a=1, go to step five;
    步骤五，对第a个分相零阻抗网络进行状态估计，转至步骤六；Step 5, performing state estimation on the a-phase split zero impedance network, and proceeding to step 6;
    步骤六，利用状态估计获得的状态变量值计算各量测的标准化残差，转至步骤七；Step 6: calculating the standardized residual of each measurement by using the state variable value obtained by the state estimation, and proceeding to step 7;
    步骤七，将残差绝对值最大值与检测门槛值比较，若超过门槛值则判定为有不良数据，如果有不良数据，则剔除该残差所对应的量测量，然后重复步骤五至步骤七，直至循环获得的残差绝对值最大值小于等于检测门槛值，转至步骤八；In step 7, the absolute value of the absolute value of the residual is compared with the threshold of the detection. If the threshold value is exceeded, the data is determined to have bad data. If there is bad data, the amount corresponding to the residual is removed, and then steps 5 to 7 are repeated. , until the absolute value of the absolute value of the residual obtained by the loop is less than or equal to the detection threshold, and proceeds to step eight;
    步骤八，判断剔除的量测量中是否包含开关遥信的伪量测，如果包含则判断开关遥信错误，如果不包含则开关遥信正确，转至步骤九；Step 8: judging whether the punctured quantity measurement includes a pseudo-measurement of the switch remote signal, if it is included, determining that the switch remote signal is incorrect, if not, the switch remote signal is correct, and the process proceeds to step IX;
    步骤九，判断a是否小于3，如果是则a＝a+1，转至步骤五，如果不是则转至步骤十；Step 9: Determine whether a is less than 3, if yes, a=a+1, go to step 5, if not, go to step 10;
    步骤十，判断b是否小于n，如果是则b＝b+1，重复步骤三至步骤十，如果不是则结束。Step 10, determine whether b is less than n, if yes b=b+1, repeat steps three to ten, and if not, end.
  2. 根据权利要求1所述的一种变电站三相线性广义状态估计方法，其特征 在于：所述状态估计是利用采集的量测数据，在每个分相零阻抗网络上，以各节点的电压以及各开关支路上流过的功率为状态变量，建立起全部为线性的量测方程组，对量测方程组进行估计计算，求得状态变量值。A three-phase linear generalized state estimation method for a substation according to claim 1 The state estimation is to use the collected measurement data. On each phase-separated zero-impedance network, all the linear voltage measurements are established by using the voltage of each node and the power flowing through each switch branch as state variables. The equations are estimated and calculated for the set of measurement equations, and the state variable values are obtained.
  3. 根据权利要求2所述的一种变电站三相线性广义状态估计方法，其特征在于：所述量测数据包括测控装置采集的数据、相量量测单元采集的数据以及保护装置采集的数据；所述测控装置采集的数据包括节点i的电压幅值开关支路i-j上流过的有功功率
    Figure PCTCN2015090854-appb-100002
    开关支路i-j上流过的无功功率
    Figure PCTCN2015090854-appb-100003
    节点i注入的有功功率
    Figure PCTCN2015090854-appb-100004
    节点i注入的无功功率
    Figure PCTCN2015090854-appb-100005
    以及开关遥信值Csca；所述相量量测单元采集的数据包括节点i的电压幅值
    Figure PCTCN2015090854-appb-100006
    节点i的电压相角
    Figure PCTCN2015090854-appb-100007
    开关支路i-j上流过的有功功率
    Figure PCTCN2015090854-appb-100008
    开关支路i-j上流过的无功功率
    Figure PCTCN2015090854-appb-100009
    节点i注入的有功功率
    Figure PCTCN2015090854-appb-100010
    节点i注入的无功功率
    Figure PCTCN2015090854-appb-100011
    以及开关遥信值Cpmu；所述保护装置采集的数据包括开关支路i-j上流过的有功功率
    Figure PCTCN2015090854-appb-100012
    开关支路i-j上流过的无功功率
    Figure PCTCN2015090854-appb-100013
    以及开关遥信数据Cpro。    The three-phase linear generalized state estimation method for a substation according to claim 2, wherein the measurement data comprises data collected by the measurement and control device, data collected by the phasor measurement unit, and data collected by the protection device; The data collected by the measurement and control device includes the voltage amplitude of the node i Active power flowing over the switching branch ij
    Figure PCTCN2015090854-appb-100002
    Reactive power flowing over the switching branch ij
    Figure PCTCN2015090854-appb-100003
    Active power injected by node i
    Figure PCTCN2015090854-appb-100004
    Reactive power injected by node i
    Figure PCTCN2015090854-appb-100005
    And a switch remote signal value C sca ; the data collected by the phasor measurement unit includes the voltage amplitude of the node i
    Figure PCTCN2015090854-appb-100006
    Voltage phase angle of node i
    Figure PCTCN2015090854-appb-100007
    Active power flowing over the switching branch ij
    Figure PCTCN2015090854-appb-100008
    Reactive power flowing over the switching branch ij
    Figure PCTCN2015090854-appb-100009
    Active power injected by node i
    Figure PCTCN2015090854-appb-100010
    Reactive power injected by node i
    Figure PCTCN2015090854-appb-100011
    And the switch remote signal value C pmu ; the data collected by the protection device includes the active power flowing through the switch branch ij
    Figure PCTCN2015090854-appb-100012
    Reactive power flowing over the switching branch ij
    Figure PCTCN2015090854-appb-100013
    And switch remote signal data C pro .
  4. 根据权利要求3所述的一种变电站三相线性广义状态估计方法，其特征在于：所述量测方程包括节点电压量测方程、开关功率量测方程、节点注入功率量测方程和开关状态伪量测方程。The three-phase linear generalized state estimation method for a substation according to claim 3, wherein the measurement equation comprises a node voltage measurement equation, a switching power measurement equation, a node injection power measurement equation, and a switch state pseudo Measuring equations.
  5. 根据权利要求4所述的一种变电站三相线性广义状态估计方法，其特征 在于：所述开关状态伪量测方程如下，A three-phase linear generalized state estimation method for a substation according to claim 4, characterized in that The following: the switching state pseudo-measurement equation is as follows,
    若开关支路i-j上的开关遥信为断开，开关支路上的功率为0，则开关状态伪量测方程为，If the switch remote signal on the switch branch i-j is off and the power on the switch branch is 0, the switch state pseudo-measurement equation is
    Figure PCTCN2015090854-appb-100014
    Figure PCTCN2015090854-appb-100014
    Figure PCTCN2015090854-appb-100015
    Figure PCTCN2015090854-appb-100015
    其中，状态变量
    Figure PCTCN2015090854-appb-100016
    分别为开关支路i-j上流过的有功功率和无功功率；
    Figure PCTCN2015090854-appb-100017
    分别是开关支路i-j上的有功和无功功率伪量测，其值应为零；
    Figure PCTCN2015090854-appb-100018
    为
    Figure PCTCN2015090854-appb-100019
    的量测误差，υoqij为
    Figure PCTCN2015090854-appb-100020
    的量测误差。    Where the state variable
    Figure PCTCN2015090854-appb-100016
    The active power and reactive power flowing through the switch branch ij respectively;
    Figure PCTCN2015090854-appb-100017
    They are the active and reactive power pseudo-measures on the switch branch ij, respectively, and their values should be zero;
    Figure PCTCN2015090854-appb-100018
    for
    Figure PCTCN2015090854-appb-100019
    Measurement error, υ oqij is
    Figure PCTCN2015090854-appb-100020
    Measurement error.
    若上的开关遥信为闭合，开关支路两端电压差
    Figure PCTCN2015090854-appb-100021
    为0，则开关状态伪量测方程为，    If the upper switch is closed, the voltage difference between the switch branches
    Figure PCTCN2015090854-appb-100021
    Is 0, then the switch state pseudo-measurement equation is,
    Figure PCTCN2015090854-appb-100022
    Figure PCTCN2015090854-appb-100022
    Figure PCTCN2015090854-appb-100023
    Figure PCTCN2015090854-appb-100023
    其中，状态变量
    Figure PCTCN2015090854-appb-100024
    为节点i的电压幅值，
    Figure PCTCN2015090854-appb-100025
    为节点j的电压幅值，
    Figure PCTCN2015090854-appb-100026
    为节点i的电压相角，
    Figure PCTCN2015090854-appb-100027
    为节点j的电压相角；
    Figure PCTCN2015090854-appb-100028
    分别是开关支路i-j两端的电压幅值差和相角差伪量测，其值应为零，υcvij为
    Figure PCTCN2015090854-appb-100029
    的量测误差，υcθij为
    Figure PCTCN2015090854-appb-100030
    的量测误差。    Where the state variable
    Figure PCTCN2015090854-appb-100024
    For the voltage amplitude of node i,
    Figure PCTCN2015090854-appb-100025
    For the voltage amplitude of node j,
    Figure PCTCN2015090854-appb-100026
    Is the voltage phase angle of node i,
    Figure PCTCN2015090854-appb-100027
    Is the voltage phase angle of node j;
    Figure PCTCN2015090854-appb-100028
    They are the voltage amplitude difference and phase angle difference pseudo-measures at both ends of the switch branch ij, and the value should be zero, υ cvij is
    Figure PCTCN2015090854-appb-100029
    Measurement error, υ cθij is
    Figure PCTCN2015090854-appb-100030
    Measurement error.
  6. 根据权利要求5所述的一种变电站三相线性广义状态估计方法，其特征 在于：由于量测方程组中的方程均为线性，因此可将量测方程组写成如下矩阵形式，A three-phase linear generalized state estimation method for a substation according to claim 5, characterized in that Therefore: since the equations in the measurement equations are linear, the system of measurement equations can be written as the following matrix form.
    Figure PCTCN2015090854-appb-100031
    Figure PCTCN2015090854-appb-100031
    其中，I为单位矩阵，A1、A2、A3、A4、A5、A6均为系数矩阵，xV、xθ、xP、xQ均表示各类状态变量向量，
    Figure PCTCN2015090854-appb-100032
    均是各类量测量向量，υV、υθ、υP、υQ、
    Figure PCTCN2015090854-appb-100033
    υop、υoq、υcv、υcθ是各类量测对应的量测误差向量；    Where I is the identity matrix, A 1 , A 2 , A 3 , A 4 , A 5 , and A 6 are all coefficient matrices, and x V , x θ , x P , and x Q all represent various state variable vectors.
    Figure PCTCN2015090854-appb-100032
    They are all kinds of measurement vectors, υ V , υ θ , υ P , υ Q ,
    Figure PCTCN2015090854-appb-100033
    υ op , υ oq , υ cv , υ cθ are measurement error vectors corresponding to various types of measurements;
    状态估计的目标函数是求下述公式的最小值：The objective function of the state estimation is to find the minimum of the following formula:
    min J(x)＝rTR-1r＝(z-Hx)TR-1(z-Hx)Min J(x)=r T R -1 r=(z-Hx) T R -1 (z-Hx)
    其中r是残差向量，rT是残差向量的转置，R-1是权重矩阵，z是量测向量，H是量测方程系数矩阵，x表示需计算的状态变量；根据优化公式得状态变量的估计值为
    Figure PCTCN2015090854-appb-100034
         Where r is the residual vector, r T is the transpose of the residual vector, R -1 is the weight matrix, z is the measurement vector, H is the coefficient matrix of the measurement equation, x is the state variable to be calculated; according to the optimization formula Estimated value of the state variable
    Figure PCTCN2015090854-appb-100034
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