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The use of synchronized measurement technology leads to a more reliable and secure operation of the power system. Phasor calculation is needed for all buses where a phasor measurement unit is installed, and fast and precise estimation is necessary for accurate monitoring, protection and control. The Prony algorithm is one promising method due to its capability to estimate phasor adaptively with changing frequency. The algorithm projects the signal on $L$ exponentially damped sine functions, where $L$ is the order of the Prony. However, the order under different conditions should be adapted automatically to reduce computation time. To adaptively specify the order, the empirical mode decomposition (EMD) method is proposed in this paper to be combined with the Prony and named EMD-Prony. The EMD decomposes a signal into finite single oscillatory modes, representing the number of modes in the signal. EMD is also used as a pre-processing step to filter noise from an input signal of Prony. Therefore, EMD is proposed here as an assistant of Prony in a phasor estimation. Finally, the proposed method is tested on the benchmark signals proposed in the IEEE standard, signals obtained from a simulated power system, and measured data from a real-world power system. [ABSTRACT FROM AUTHOR]