The present invention relates to a method for determining
insulation resistance (R1, R2) and
discharge capacitance (C1, C2) for ground (PE) of an ungrounded DC power supply
system, wherein a linear difference equation is implemented as a function of a measurement
voltage (UG(k)) and a
grid voltage (UN(k)) with a measurement
voltage (UM(k)), and a grid parameter (θi) formed from a shunt (RM),
insulation resistance (R1, R2) to be determined, and
discharge capacitance (C1, C2) to be determined. Using N linear differential equations, a measurement value equation
system is implemented with a
sample sequence ((UG(k), UN(k), UM(k))) and a grid parameter (θi) for measurement times from k = 1, 2 to N with a sampling period T. Another method step comprises a step (S6) of calculating the estimated grid parameter (θi) as an approximate solution to the measurement value equation
system, wherein the sum of squared errors between the grid parameter (I) and the estimated grid parameter (θi) is minimized, a step (S7) of minimizing the sum of squared errors through
QR decomposition of the measurement-value matrix (Ψ), wherein the
QR decomposition is recursively calculated, and a step (S8) of calculating each
insulation resistance (R1, R2) and each
discharge capacitance (C1, C2) from the estimated grid parameter (I) and repeating the method step with the estimated grid parameter (I), each calculated to include samples available at the current measurement time.