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Wide area measurement system (WAMS) has been widely used in power system dynamic monitoring and control, such as low frequency identification and control, stability analysis and control, etc. However, as a measurement tool, WAMS has the measurement error and bad data unavoidably. If the raw data is applied directly, the unpredictable consequence will be resulted in. Aiming at this problem, a novel dynamic state estimator for generator state variables is proposed in this paper. The mathematical model of the algorithm are described. The simulation results show that the proposed method can provide the estimated trajectories of the generators in real-time, which eliminates the impact of measurement error and bad data and gives the backbone for WAMS based dynamic applications and real-time control.