**6. Conclusion**

A WAMS based distributed dynamic state estimator for generator rotor angle and electrical angular velocity during power system electromechanical transient process is proposed in this paper. The WAMS measurement noise and dynamic model noise are analyzed concretely, and the bad data detection and elimination approach are given as well. The simulation results indicate that the proposed dynamic estimator has high estimation precision and fast computational speed; which satisfies the real-time requirements. The estimated generator rotor angle and electrical angular velocity eliminate the adverse impact of measurement noises and bad data; therefore, the proposed dynamic estimator can serve the power system dynamic monitoring and control system better.
