Roots, achievements, and prospects of power system state estimation: A review on handling corrupted measurements

State estimation (SE) is an important element of power network analysis applications implemented at control centres, being instrumental in providing reliable data on the system operating conditions. Looking back, power system SE can be considered an extremely active and argumentative research field. Despite remarkable achievements reached to date, how to process corrupted measurements still raises much interest. Hence, the need for this review paper that aims at fostering the discussion of the following aspects when handling corrupted measurements: detection, identification, and elimination/substitution of spurious measurements; observability and criticality conditions; SE and forecasting; residual and innovation tests; conventional and phasor measurements. In the golden jubilee of SE (1968-2018), naturally influential works on the subject (some of them with historic significance) are highlighted. In doing so, the objective is to make the paper a stimulating reading for both experienced professionals and newcomers to the field. Comments on promising research directions that give a fresh perspective to SE are also provided. Finally, it is hoped that this review paper can contribute towards the improvement of SE applications, in light of enhanced bad data analyses.