Secure State Estimation of Distribution Network Based on Kalman Filter Decomposition

doi:10.16182/j.issn1004731x.joss.22-0191

Abstract

Abstract:

A new state estimation algorithm is proposed to improve the accuracy to obtain the optimal state estimation of distribution network against FDI attack. In the case of phasor measurement units being attacked and the measurement results being altered, the optimal Kalman estimate can be decomposed into a weighted sum of local state estimates. Focusing on the insecurity of the weighted sum method, a convex optimization based on local estimation is proposed to replace the method and combine the local estimation into a secure state estimation. The simulation results show that the proposed estimator is consistent with the Kalman estimator when all the PMU measuring devices operate well. When the PMU device is attacked and the measurement is abnormal, a sufficient condition is provided, under which the security state estimator is stable.

Key words: distribution network, state estimation, security, Kalman filter decomposition, FDI attack

CLC Number:

TP391

Xinghua Liu, Siwen Dong, Jiaqiang Tian. Secure State Estimation of Distribution Network Based on Kalman Filter Decomposition[J]. Journal of System Simulation, 2023, 35(6): 1191-1202.

Figures/Tables 14

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Fig. 10

Fig. 11

Fig. 12

Fig. 13

Fig. 14

References 40

1	魏书珩, 徐俊俊, 吴在军, 等. 针对三相不平衡配电网状态估计的虚假数据注入攻击方法[J]. 高电压技术, 2021, 47(7): 2367-2376.
	Wei Shuheng, Xu Junjun, Wu Zaijun, et al. False Data Injection Attack Method Against State Estimation of Three-phase Unbalanced Distribution Network[J]. High Voltage Engineering, 2021, 47(7): 2367-2376.
2	张冀川, 陈蕾, 张明宇, 等. 配电物联网智能终端的概念及应用[J]. 高电压技术, 2019, 45(6): 1729-1736.
	Zhang Jichuan, Chen Lei, Zhang Mingyu, et al. Conception and Application of Smart Terminal for Distribution Internet of Things[J]. High Voltage Engineering, 2019, 45(6): 1729-1736.
3	孙伟卿, 张婕, 叶磊, 等. 考虑广义储能的电力系统运行弹性优化[J]. 系统仿真学报, 2021, 33(4): 962-972.
	Sun Weiqing, Zhang Jie, Ye Lei, et al. Operation Resilience Optimization of Power System Considering Generalized Energy Storage[J]. Journal of System Simulation, 2021, 33(4): 962-972.
4	吴在军, 徐俊俊, 余星火, 等. 主动配电网状态估计技术评述[J]. 电力系统自动化, 2017, 41(13): 182-191.
	Wu Zaijun, Xu Junjun, Yu Xinghuo, et al. Review on State Estimation Technique of Active Distribution Network[J]. Automation of Electric Power Systems, 2017, 41(13): 182-191.
5	徐俊俊, 吴在军, 胡秦然, 等. 考虑多类型分布式电源和负荷不确定性的主动配电网区间状态估计[J]. 中国电机工程学报, 2018, 38(11): 3255-3266.
	Xu Junjun, Wu Zaijun, Hu Qinran, et al. Interval State Estimation for Active Distribution Networks Considering Uncertainties of Multiple Types of DGs and Loads[J]. Proceedings of the CSEE, 2018, 38(11): 3255-3266.
6	Che Liang, Liu Xuan, Li Zuyi. Fast Screening of High-risk Lines under False Data Injection Attacks[J]. IEEE Transactions on Smart Grid, 2019, 10(4): 4003-4014.
7	张殷, 肖先勇, 李长松. 基于攻击者视角的电力信息物理融合系统脆弱性分析[J]. 电力自动化设备, 2018, 38(10): 81-88.
	Zhang Yin, Xiao Xianyong, Li Changsong. Vulnerability Analysis of Cyber Physical Power System from Attacker's Perspective[J]. Electric Power Automation Equipment, 2018, 38(10): 81-88.
8	赵丽莉, 刘忠喜, 孙国强, 等. 基于非线性状态估计的虚假数据注入攻击代价分析[J]. 电力系统保护与控制, 2019, 47(19): 38-45.
	Zhao Lili, Liu Zhongxi, Sun Guoqiang, et al. Cost Analysis of the False Data Injection Attack Based on Nonlinear State Estimation[J]. Power System Protection and Control, 2019, 47(19): 38-45.
9	彭大天, 董建敏, 蔡忠闽, 等. 假数据注入攻击下信息物理融合系统的稳定性研究[J]. 自动化学报, 2019, 45(1): 196-205.
	Peng Datian, Dong Jianmin, Cai Zhongmin, et al. On the Stability of Cyber-physical Systems under False Data Injection Attacks[J]. Acta Automatica Sinica, 2019, 45(1): 196-205.
10	郑文迪, 聂建雄, 邵振国, 等. 智能配电网状态估计研究现状和展望[J]. 电力系统及其自动化学报, 2021, 33(4): 8-16.
	Zheng Wendi, Nie Jianxiong, Shao Zhenguo, et al. Status Quo and Prospect of Researches on State Estimation for Smart Distribution Network[J]. Proceedings of the CSU-EPSA, 2021, 33(4): 8-16.
11	Zhao Junbo, Netto M, Huang Zhenyu, et al. Roles of Dynamic State Estimation in Power System Modeling, Monitoring and Operation[J]. IEEE Transactions on Power Systems, 2021, 36(3): 2462-2472.
12	De Oliveira-De Jesus P M, Rodriguez N A, Celeita D F, et al. PMU-based System State Estimation for Multigrounded Distribution Systems[J]. IEEE Transactions on Power Systems, 2021, 36(2): 1071-1081.
13	Zhou Xinyang, Liu Zhiyuan, Guo Yi, et al. Gradient-based Multi-area Distribution System State Estimation[J]. IEEE Transactions on Smart Grid, 2020, 11(6): 5325-5338.
14	Hou Nan, Wang Zidong, Ho D W C, et al. Robust Partial-nodes-based State Estimation for Complex Networks under Deception Attacks[J]. IEEE Transactions on Cybernetics, 2020, 50(6): 2793-2802.
15	Ma Lifeng, Wang Zidong, Chen Yun, et al. Probability-guaranteed Distributed Secure Estimation for Nonlinear Systems over Sensor Networks under Deception Attacks on Innovations[J]. IEEE Transactions on Signal and Information Processing over Networks, 2021, 7: 465-477.
16	Kurt M N, Yılmaz Y, Wang Xiaodong. Secure Distributed Dynamic State Estimation in Wide-area Smart Grids[J]. IEEE Transactions on Information Forensics and Security, 2020, 15: 800-815.
17	Mo Yilin, Sinopoli B. On the Performance Degradation of Cyber-physical Systems under Stealthy Integrity Attacks[J]. IEEE Transactions on Automatic Control, 2016, 61(9): 2618-2624.
18	Fawzi H, Tabuada P, Diggavi S. Secure Estimation and Control for Cyber-physical Systems under Adversarial Attacks[J]. IEEE Transactions on Automatic Control, 2014, 59(6): 1454-1467.
19	Pajic M, Tabuada P, Lee I, et al. Attack-resilient State Estimation in the Presence of Noise[C]//2015 54th IEEE Conference on Decision and Control(CDC). Piscataway, NJ, USA: IEEE, 2015: 5827-5832.
20	Pajic M, Weimer J, Bezzo N, et al. Robustness of Attack-resilient State Estimators[C]//2014 ACM/IEEE International Conference on Cyber-Physical Systems(ICCPS). Piscataway, NJ, USA: IEEE, 2014: 163-174.
21	杨智博, 邓自立. 带不确定方差乘性和加性噪声系统鲁棒加权融合稳态Kalman估值器[J]. 控制理论与应用, 2018, 35(4): 547-556.
	Yang Zhibo, Deng Zili. Robust Weighted Fusion Steady-state Kalman Estimators for Systems with Uncertain-variance Multiplicative and Additive Noises[J]. Control Theory & Applications, 2018, 35(4): 547-556.
22	杨智博, 杨春山, 邓自立. 面向跟踪系统的多传感器信息融合鲁棒保性能协方差交叉Kalman估计方法[J]. 电子学报, 2017, 45(7): 1627-1636.
	Yang Zhibo, Yang Chunshan, Deng Zili. Tracking System-oriented Multi-sensor Information Fusion Robust Guaranteed Cost Covariance Intersection Kalman Estimation Method[J]. Acta Electronica Sinica, 2017, 45(7): 1627-1636.
23	王雪梅, 刘文强, 邓自立. 带不确定协方差线性相关白噪声系统改进的鲁棒协方差交叉融合稳态Kalman估值器[J]. 控制与决策, 2016, 31(10): 1749-1756.
	Wang Xuemei, Liu Wenqiang, Deng Zili. Modified Robust Covariance Intersection Fusion Steady-state Kalman Estimators for Systems with Uncertain-covariance Linearly Correlated White Noises[J]. Control and Decision, 2016, 31(10): 1749-1756.
24	Mo Yilin, Garone E. Secure Dynamic State Estimation via Local Estimators[C]//2016 IEEE 55th Conference on Decision and Control(CDC). Piscataway, NJ, USA: IEEE, 2016: 5073-5078.
25	闫茹, 费敏锐, 杜大军. 针对电力系统蓄意攻击的简要技术分析[J]. 系统仿真学报, 2017, 29(10): 2507-2517.
	Yan Ru, Fei Minrui, Du Dajun. Brief Technical Analysis of Malicious Cyber Attacks in Power System[J]. Journal of System Simulation, 2017, 29(10): 2507-2517.
26	Chen Jiaqi, Wu Wenchuan, Roald L A. Data-driven Piecewise Linearization for Distribution Three-phase Stochastic Power Flow[J]. IEEE Transactions on Smart Grid, 2022, 13(2): 1035-1048.
27	白星振, 郑鑫磊, 葛磊蛟, 等. 基于事件触发机制的配电网自适应UKF动态状态估计[J]. 高电压技术, 2021, 47(7): 2312-2320.
	Bai Xingzhen, Zheng Xinlei, Ge Leijiao, et al. Dynamic State Estimation Method with Adaptive UKF for Distribution Network Based on the Event-triggered Mechanism[J]. High Voltage Engineering, 2021, 47(7): 2312-2320.
28	曲正伟, 张嘉曦, 王云静, 等. 考虑分布式电源不确定性的配电网改进仿射状态估计[J]. 电力系统自动化, 2021, 45(23): 104-112.
	Qu Zhengwei, Zhang Jiaxi, Wang Yunjing, et al. Improved Affine State Estimation for Distribution Network Considering Uncertainty of Distributed Generator[J]. Automation of Electric Power Systems, 2021, 45(23): 104-112.
29	Cheng Zhijian, Ren Hongru, Qin Jiahu, et al. Security Analysis for Dynamic State Estimation of Power Systems with Measurement Delays[J]. IEEE Transactions on Cybernetics, 2023, 53(4): 2087-2096.
30	王玉彬, 夏明超, 李鹏, 等. 基于改进鲁棒自适应UKF的配电网动态状态估计方法[J]. 电力系统自动化, 2020, 44(1): 92-100.
	Wang Yubin, Xia Mingchao, Li Peng, et al. Dynamic State Estimation Method of Distribution Network Based on Improved Robust Adaptive Unscented Kalman Filter[J]. Automation of Electric Power Systems, 2020, 44(1): 92-100.
31	Cheng Zhijian, Ren Hongru, Zhang Bin, et al. Distributed Kalman Filter for Large-scale Power Systems with State Inequality Constraints[J]. IEEE Transactions on Industrial Electronics, 2021, 68(7): 6238-6247.
32	Cheng Cheng, Bai Xingzhen. Robust Forecasting-aided State Estimation in Power Distribution Systems with Event-triggered Transmission and Reduced Mixed Measurements[J]. IEEE Transactions on Power Systems, 2021, 36(5): 4343-4354.
33	黄蔓云, 孙国强, 卫志农, 等. 基于脉冲神经网络伪量测建模的配电网三相状态估计[J]. 电力系统自动化, 2016, 40(16): 38-43, 82.
	Huang Manyun, Sun Guoqiang, Wei Zhinong, et al. Three-phase State Estimation in Distribution Systems Based on Pseudo Measurement Modeling Using Spiking Neural Network[J]. Automation of Electric Power Systems, 2016, 40(16): 38-43, 82.
34	葛维春, 蔡亦浓, 李江, 等. 基于多分支电流混合量测的配电网三相状态估计[J]. 电力系统保护与控制, 2020, 48(9): 1-10.
	Ge Weichun, Cai Yinong, Li Jiang, et al. Three-phase State Estimation of a Distribution Network Based on Multi-branch Current Mixing Measurement[J]. Power System Protection and Control, 2020, 48(9): 1-10.
35	Chen Ji, Dou Chunxia, Xiao Li, et al. Fusion State Estimation for Power Systems under DoS Attacks: A Switched System Approach[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019, 49(8): 1679-1687.
36	Blood E A, Krogh B H, Ilic M D. Electric Power System Static State Estimation Through Kalman Filtering and Load Forecasting[C]//2008 IEEE Power and Energy Society General Meeting-conversion and Delivery of Electrical Energy in the 21st Century. Piscataway, NJ, USA: IEEE, 2008: 1-6.
37	Liu Xinghua, Mo Yilin, Garone E. Local Decomposition of Kalman Filters and Its Application for Secure State Estimation[J]. IEEE Transactions on Automatic Control, 2021, 66(10): 5037-5044.
38	Xu Liang, Mo Xiaoyu, Mo Yilin, et al. Secure State Estimation for Linear Time-varying Processes via Local Estimators[C]//2019 Chinese Control Conference(CCC). Piscataway, NJ, USA: IEEE, 2019: 8876-8881.
39	Han Duo, Mo Yilin, Xie Lihua. Convex Optimization Based State Estimation Against Sparse Integrity Attacks[J]. IEEE Transactions on Automatic Control, 2019, 64(6): 2383-2395.
40	曹德发, 马明, 汤平瑜, 等. 多源量测环境下基于深度强化学习的配电网分布式状态估计方法[J]. 可再生能源, 2021, 39(10): 1414-1420.
	Cao Defa, Ma Ming, Tang Pingyu, et al. Distributed State Estimation Method of Distribution Network Based on Deep Reinforcement Learning in Multi Source Measurement Environment[J]. Renewable Energy Resources, 2021, 39(10): 1414-1420.

[1]	Hongnai Gao, Lijiang Fu, Qian Xia, Ya Guo. Application of Observability in Performance Evaluation of Photosynthesis Model [J]. Journal of System Simulation, 2022, 34(6): 1330-1342.
[2]	Shu Ye, Xiaodong Ji, Wenhua Li. Research on Physical Layer Security of Full-Duplex UAV Relaying [J]. Journal of System Simulation, 2022, 34(4): 788-796.
[3]	Wang Bailing, Liu Hongri, Zhang Yaofang, Lü Sicai, Wang Zibo, Wang Qimeng. Review on Key Technologies of Industrial Control System Security Simulation [J]. Journal of System Simulation, 2021, 33(6): 1466-1488.
[4]	Bi Zhenbo, Zhang Shiyou, Yang Hua, Wu Yuanhong. Survey of Ship Detection in Video Surveillance Based on Shallow Machine Learning [J]. Journal of System Simulation, 2021, 33(12): 2792-2807.
[5]	Li Weigang, Li Yang, Zhao Yuntao, Yan Baokang. Research on Particle Filter Algorithm Based on Improved Grey Wolf Algorithm [J]. Journal of System Simulation, 2021, 33(1): 37-45.
[6]	Pan Lei, Li Zan, Zhang Zhili, Li Xiangyang. Modeling and Simulation of Physical Layer Security Strategy in Two-Way Cognitive Networks [J]. Journal of System Simulation, 2021, 33(1): 222-230.
[7]	Zhang Wei, Li Quan, Zhou Yuqiu, Luo Yuhang, Xi Peifeng. Two-stage Dynamic Emergency and Disaster Resistance Operation Strategy for Active Distribution Network [J]. Journal of System Simulation, 2020, 32(5): 936-945.
[8]	Liu Yuan, Feng Xingbing, Wang Xiaofeng, Deng Zhaohong. Research of Link Acquisition Technology for Virtual-reality Network [J]. Journal of System Simulation, 2020, 32(3): 421-429.
[9]	Dong Weijie, Liu Keyan, Wang Yilong, Li Xiaozhong, Yang Hao. Adaptive Control Method of High Proportion Distributed Generation Connected to Distribution Network [J]. Journal of System Simulation, 2020, 32(10): 2052-2058.
[10]	Li Xin, Liu Xiu, Wan Xinxin. Overview of Digital Twins Application and safe Development [J]. Journal of System Simulation, 2019, 31(3): 385-392.
[11]	Liu Peizhen, Jia Yuxiang, Xia Shihong. An LSTM-based Motion Recognition Method for Power Operation and Maintenance [J]. Journal of System Simulation, 2019, 31(12): 2837-2844.
[12]	Sun Kai, He Baina, Sarah Odofin, Gu Yu. Current Sensor Fault Diagnosis for Induction Motor in Vector Control System [J]. Journal of System Simulation, 2018, 30(8): 3139-3145.
[13]	Wang Yanqin, Ren Weijian. Event-triggered Non-fragile H_∞ State Estimation for Fuzzy Time-Delay Neural Networks [J]. Journal of System Simulation, 2018, 30(6): 2335-2345.
[14]	Chen Qiangjun, Zhang Mingqing, Kong Hongshan, Liu Xiaohu, Shao Lianjie. Modeling for Security Protection Capability of Information System Based on CPN [J]. Journal of System Simulation, 2018, 30(10): 3699-3710.
[15]	Pan Huan, Xu Chen, Yang Li. Multiple Objective Planning of Distribution Network with Multiple Distributed Generations [J]. Journal of System Simulation, 2018, 30(10): 3826-3834.