Non-collocated Measurement Error and Sign Error Identification to Enhance State Estimator

Routinely, measurement errors are identified and removed from the measurement data set and the state estimator re-runs to obtain a better estimate of the state. For some persistent measurement errors, this means permanent loss of the measurements. A better solution is to identify and correct these errors, if possible, so that these measurements can still be used. This paper proposes methods for identifying and correcting two particular types of measurement errors: non-collocated measurements and measurements with sign errors.