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Motivated by the need for accurate frequency information, a novel algorithmfor estimating the fundamental frequency and its rate of change in three-phasepower systems is developed. This is achieved through two stages of Kalmanfiltering. In the first stage a quaternion extended Kalman filter, whichprovides a unified framework for joint modeling of voltage measurements fromall the phases, is used to estimate the instantaneous phase increment of thethree-phase voltages. The phase increment estimates are then used asobservations of the extended Kalman filter in the second stage that accountsfor the dynamic behavior of the system frequency and simultaneously estimatesthe fundamental frequency and its rate of change. The framework is thenextended to account for the presence of harmonics. Finally, the concept isvalidated through simulation on both synthetic and real-world data.

Frequency estimation in three-phase power systems with harmonic contamination: A multistage quaternion Kalman filtering approach