  This paper proposes a fully distributed robust state-estimation (D-RBSE)
method that is applicable to multi-area power systems with nonlinear
measurements. We extend the recently introduced bilinear formulation of state
estimation problems to a robust model. A distributed bilinear state-estimation
procedure is developed. In both linear stages, the state estimation problem in
each area is solved locally, with minimal data exchange with its neighbors. The
intermediate nonlinear transformation can be performed by all areas in parallel
without any need of inter-regional communication. This algorithm does not
require a central coordinator and can compress bad measurements by introducing
a robust state estimation model. Numerical tests on IEEE 14-bus and 118-bus
benchmark systems demonstrate the validity of the method.
