Modal Kalman filtering based impedance relaying

An algorithm is presented for computer distance relaying. It is based on modal Kalman filtering (MKF) to estimate fundamental phasors, MKF exploits all the measurement information available from a three-phase line and is founded on enhanced models of the electromagnetic transients noise. To support the modeling of noise for different faults, a study of nontrivial electrical networks with accurate electromagnetic transients modeling is made for 400 kV transmission lines. MKF fits the behavior of the different modal noise for the Clarke phasors, but it is invariant for each type of fault, assuring robustness and minimum error variance. To computer distance, Clarke αB phasors are transformed to +/- symmetrical components, and then a well-known expression is used to computer the positive impedance. Statistical analysis if presented to assess observation time versus estimation accuracy for the different types of line faults