An Improved Algorithm for State Estimator Based on Maximum Normal Measurement Rate

Previous work has shown that robust state estimator based on maximum normal measurement rate is accurate and reliable. However, in the existing algorithm, the optimal solutions cannot be obtained due to the approximation of evaluation function. Besides, there are no noise-filtering effects on normal measurements. To deal with these two problems, this letter presents an improved algorithm to get a more accurate solution with higher normal measurement rate. Numerical tests on different systems show the proposed algorithm is efficient.