Current Measurement Method and Device, Medium, and Terminal Based on Array Current Sensors

Abstract

The present application discloses a current measurement method and device, medium, and terminal based on an array current sensor, relating to the technical field of current measurement. The main purpose is to solve the problem that the measurement accuracy of an array current sensor is reduced due to the magnetic field generated by a field source outside the circular array of the array current sensor entering the array current sensor. The method includes: measuring the magnetic induction intensity components of the magnetic field where a target wire is located by using a target array current sensor; respectively constructing electromagnetic component expressions corresponding to the x, y, and z axes of each sensor element in the target array current sensor, and constructing an electromagnetic component equation set corresponding to the sensor element based on the electromagnetic component expressions corresponding to the x, y, and z axes; and solving the electromagnetic component equation set based on the least square method to obtain the calculated current value of the target wire.

Description

Technical Field

[0001] The present application relates to the technical field of current measurement, and in particular, to a current measurement method, device, medium, and terminal based on an array current sensor. Background Art

[0002] As an important electrical quantity for the safe operation of the power grid, the current value needs to be measured and monitored in the fields of relay protection, power grid monitoring, power analysis and system control, photovoltaic power generation, automotive electronics, and aerospace. Therefore, accurate current measurement values are of great significance. Due to the advantages of low loss and electrical insulation between the primary and secondary sides, non-contact current sensors are widely used in power distribution, power electronics, drive technology, etc., and are one of the most effective means for measuring current values. Among them, the array current sensor does not contain an iron core in its structure. Compared with the current sensor with an iron core, it is not restricted by the inherent properties of the iron core such as DC bias magnetic field, hysteresis effect, and easy saturation brought by the iron core material. This makes the linearity and dynamic range of the array current sensor greatly improved, and it also has the advantages of small volume, light weight, and low cost, becoming the most commonly used current sensor.

[0003] However, due to the loss of the shielding effect of the iron core on the external magnetic field, the magnetic field generated by the field source located outside the circular array of the array current sensor is easily introduced into the array current sensor, resulting in a decrease in the measurement accuracy of the array current sensor. Summary of the Invention

[0004] In view of this, the present application provides a current measurement method, device, medium, and terminal based on an array current sensor, mainly aiming at the problem that the measurement accuracy of the array current sensor is reduced due to the magnetic field generated by the field source located outside the circular array of the array current sensor entering the array current sensor.

[0005] According to one aspect of the present application, a current measurement method based on an array current sensor is provided, including:

[0006] Measuring the magnetic induction intensity component of the magnetic field where the target wire is located by using a target array current sensor, where the magnetic field is composed of the magnetic field generated by the wire and the uniform magnetic field in the environment, and the wire includes the target wire and the adjacent wire of the target wire;

[0007] Based on each sensor element in the target array current sensor, construct the electromagnetic component expressions corresponding to the x, y, and z axes of the sensor element respectively. Based on the electromagnetic component expressions corresponding to the x, y, and z axes respectively, construct the electromagnetic component equation set of the sensor element. Among them, taking the x, y, and z axes as the target axes respectively, construct the electromagnetic component expressions corresponding to the target axes based on the sum of the magnetic induction intensity components in the target axis direction of the magnetic fields generated by each wire and the magnetic induction intensity components in the target axis direction of the uniform magnetic field in the environment. The magnetic induction intensity component expressions in the target axis direction of the magnetic fields generated by each wire are expressed as the following formulas.

[0008] ,

[0009] Among them, represents the magnetic induction intensity of the magnetic field generated by wire . represents the vacuum permeability. represents the calculated current value of wire . represents the direction vector of wire . represents the angle between wire and the positive direction of the first axis. represents the angle between the projection line of wire on the plane formed by the second axis and the third axis and the positive direction of the second axis. When the first axis is the z axis, the second axis is the x axis and the third axis is the y axis. When the first axis is the x axis, the second axis is the y axis and the third axis is the z axis. When the first axis is the y axis, the second axis is the z axis and the third axis is the x axis. represents the displacement between the intersection point of wire and the plane where the array current sensor is located and the position of the k-th sensor element of the array current sensor. represents the coordinates of the position of the k-th sensor element of the array current sensor. represents the radius of the array current sensor. represents the k-th sensor element of the array current sensor. represents the number of sensor elements. represents wire . represents the coordinates of the intersection point of wire and the plane where the array current sensor is located. represents the distance between wire and the plane where the array current sensor is located.

[0010] Solve the electromagnetic component equation set based on the least squares method to obtain the calculated current value of the target wire.

[0011] Preferably, the electromagnetic component equations are expressed as the following formula:

[0012] ,

[0013] wherein, represents the magnetic induction intensity component in the x-axis direction of the magnetic field where the target wire is located; represents the magnetic induction intensity component in the y-axis direction of the magnetic field where the target wire is located; represents the magnetic induction intensity component in the z-axis direction of the magnetic field where the target wire is located; represents the magnetic induction intensity component in the x-axis direction of the uniform magnetic field in the environment; represents the magnetic induction intensity component in the y-axis direction of the uniform magnetic field in the environment; represents the magnetic induction intensity component in the z-axis direction of the uniform magnetic field in the environment; represents the number of wires; represents the wire the magnetic induction intensity component in the x-axis direction of the magnetic field generated by; represents the wire the magnetic induction intensity component in the y-axis direction of the magnetic field generated by; represents the wire the magnetic induction intensity component in the z-axis direction of the magnetic field generated by.

[0014] Preferably, constructing the expression of the magnetic induction intensity component in the target axis direction of the magnetic field generated by each wire includes:

[0015] Constructing the first magnetic induction intensity component expression based on Ampere's loop principle,

[0016] ,

[0017] wherein, represents the distance from the position where the k-th sensor element is located to the wire ; represents the wire the magnetic field direction on the k-th sensor element;

[0018] Converting the distance from the position where the sensor element is located to the wire into the form of the product of the direction vector and the displacement to obtain the distance expression from the position where the sensor element is located to the wire,

[0019] ,

[0020] wherein, represents the wire the direction vector of; represents the wire The displacement between the intersection point with the plane where the array current sensor is located and the position of the k-th sensor element of the array current sensor;

[0021] Based on the expression of the distance from the position where the sensor element is located to the wire, perform a formal transformation on the magnetic field direction of the wire on the sensor element to obtain an expression of the magnetic field direction of the wire on the sensor element.

[0022] ;

[0023] Based on the expression of the distance from the position where the sensor element is located to the wire and the expression of the magnetic field direction of the wire on the sensor element, update the expression of the first magnetic induction intensity component to obtain an expression of the second magnetic induction intensity component.

[0024] ;

[0025] Obtain the coordinates of the position where the sensor element of the array current sensor is located and the coordinates of the intersection point of the wire and the plane where the array current sensor is located. Determine an expression for the displacement between the intersection point of the wire and the plane where the array current sensor is located and the position where the sensor element of the array current sensor is located according to the coordinates of the position where the sensor element is located and the coordinates of the intersection point, and substitute the expression of the displacement into the expression of the second magnetic induction intensity component to obtain an expression for the magnetic induction intensity component in the target axis direction of the magnetic field generated by each wire.

[0026] Preferably, the method for measuring the magnetic induction intensity component of the magnetic field where the target wire is located by using the target array current sensor includes:

[0027] Pre-sleeve the target array current sensor on the target wire;

[0028] Read the output voltage components of each sensor element included in the target array current sensor in each axis direction;

[0029] Divide each of the output voltage components by the sensitivity parameter of the target array current sensor to obtain the magnetic induction intensity component corresponding to each output voltage component.

[0030] Preferably, the method further includes:

[0031] Measure the magnetic induction intensity component of the magnetic field where the target wire is located by using different array current sensors, and the difference between the different array current sensors lies in the number of sensor elements included;

[0032] Based on the magnetic induction intensity components obtained by each of the array current sensors, construct a corresponding electromagnetic component equation set, solve to obtain the corresponding calculated current value, and calculate the error between each of the calculated current values and the true current value of the target wire, so as to obtain the measurement error of each of the array current sensors.

[0033] Based on a preset simulation software, perform a simulation operation according to each of the measurement errors to obtain a curve of the change of the measurement error with the number of sensor elements.

[0034] Determine the optimal number of sensor elements according to the change curve, and use an array current sensor with the number of sensor elements being the optimal number of sensor elements to measure the current.

[0035] Preferably, the target array current sensor includes a plurality of sensor elements, and the sensor elements are integrated by three single-axis chips, and the three single-axis chips respectively measure the output voltage components of the magnetic field where the target wire is located in the x-axis, y-axis, and z-axis directions.

[0036] According to another aspect of the present application, there is provided a current measurement device based on an array current sensor, including:

[0037] A magnetic induction intensity component measurement module, configured to use a target array current sensor to measure the magnetic induction intensity components of the magnetic field where the target wire is located, the magnetic field is composed of the magnetic field generated by the wire and the uniform magnetic field in the environment, and the wire includes the target wire and the adjacent wire of the target wire;

[0038] An electromagnetic component equation set construction module, configured to respectively construct electromagnetic component expressions corresponding to the x-axis, y-axis, and z-axis of each sensor element in the target array current sensor, and construct an electromagnetic component equation set corresponding to the sensor element based on the electromagnetic component expressions corresponding to the x-axis, y-axis, and z-axis. Among them, taking the x-axis, y-axis, and z-axis as the target axes respectively, construct an electromagnetic component expression corresponding to the target axis based on the sum of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each wire and the magnetic induction intensity component in the target axis direction of the uniform magnetic field in the environment. The magnetic induction intensity component expression in the target axis direction of the magnetic field generated by each wire is expressed as the following formula:

[0039] ,

[0040] Among them, represents the magnetic induction intensity of the magnetic field generated by the wire , represents the vacuum magnetic permeability, represents the calculated current value of the wire , represents the wire The direction vector, indicating the wire and the angle with the positive direction of the first axis, indicating the wire and the angle between the projection line of the wire on the plane formed by the second axis and the third axis and the positive direction of the second axis. When the first axis is the z-axis, the second axis is the x-axis and the third axis is the y-axis; when the first axis is the x-axis, the second axis is the y-axis and the third axis is the z-axis; when the first axis is the y-axis, the second axis is the z-axis and the third axis is the x-axis. indicating the wire and the displacement between the intersection point of the wire and the plane where the array current sensor is located and the position of the k-th sensor element of the array current sensor. indicating the coordinates of the position of the k-th sensor element of the array current sensor. indicating the radius of the array current sensor. indicating the k-th sensor element of the array current sensor. indicating the number of sensor elements. indicating the wire and the coordinates of the intersection point of the wire and the plane where the array current sensor is located. indicating the wire and the distance between the wire and the plane where the array current sensor is located. indicating the wire and the angle between the wire and the plane where the array current sensor is located;

[0041] The equation system solving module is configured to solve the electromagnetic component equation system based on the least squares method to obtain the calculated current value of the target wire.

[0042] Preferably, before the electromagnetic component equation system construction module, the device further includes a target axis direction magnetic induction intensity component expression construction module, configured to construct the target axis direction magnetic induction intensity component expression of the magnetic field generated by each wire, specifically:

[0043] Construct the first magnetic induction intensity component expression based on Ampere's loop principle,

[0044] ,

[0045] wherein, represents the distance from the position of the k-th sensor element to the wire , indicating the wire and the magnetic field direction on the k-th sensor element;

[0046] Convert the distance from the point where the sensor element is located to the wire into the form of the product of the direction vector and the displacement, and obtain the distance expression from the point where the sensor element is located to the wire.

[0047] ,

[0048] where, represents the direction vector of the wire . represents the wire The displacement between the intersection point of the plane where the array current sensor is located and the k-th sensor element of the array current sensor.

[0049] Based on the distance expression from the point where the sensor element is located to the wire, perform a form conversion on the magnetic field direction of the wire on the sensor element, and obtain the magnetic field direction expression of the wire on the sensor element.

[0050] ;

[0051] Based on the distance expression from the point where the sensor element is located to the wire and the magnetic field direction expression of the wire on the sensor element, update the first magnetic induction intensity component expression to obtain the second magnetic induction intensity component expression.

[0052] ;

[0053] Obtain the coordinates of the point where the sensor element of the array current sensor is located, and the coordinates of the intersection point of the wire and the plane where the array current sensor is located. Determine the expression of the displacement between the intersection point of the wire and the plane where the array current sensor is located and the point where the sensor element of the array current sensor is located according to the coordinates of the point where the sensor element is located and the coordinates of the intersection point, and substitute the expression of the displacement into the second magnetic induction intensity component expression to obtain the target axis direction magnetic induction intensity component expression of the magnetic field generated by each wire.

[0054] Preferably, the magnetic induction intensity component measurement module is used for:

[0055] Pre-sleeve the target array current sensor on the target wire;

[0056] Read the output voltage components of each sensor element included in the target array current sensor in each axis direction;

[0057] Divide each of the output voltage components by the sensitivity parameter of the target array current sensor to obtain the magnetic induction intensity component corresponding to each output voltage component.

[0058] Preferably, the device further includes an optimal sensor element quantity determination module, configured to:

[0059] Measure the magnetic induction intensity components of the magnetic field where the target wire is located by using different array current sensors, wherein the different array current sensors differ in the quantity of sensor elements they contain;

[0060] Construct corresponding electromagnetic component equations according to the magnetic induction intensity components obtained by each of the array current sensors, solve to obtain corresponding calculated current values, and calculate the errors between each of the calculated current values and the true current value of the target wire to obtain the measurement errors of each of the array current sensors;

[0061] Based on a preset simulation software, perform a simulation operation according to each of the measurement errors to obtain a curve of the change of the measurement error with the quantity of sensor elements;

[0062] Determine the optimal quantity of sensor elements according to the change curve, and use an array current sensor with the quantity of sensor elements being the optimal quantity of sensor elements to perform current measurement.

[0063] Preferably, the target array current sensor includes a plurality of sensor elements, and the sensor elements are integrated by three single-axis chips, and the three single-axis chips respectively measure the output voltage components of the magnetic field where the target wire is located in the x-axis, y-axis, and z-axis directions.

[0064] According to another aspect of the present application, there is provided a storage medium in which at least one executable instruction is stored, and the executable instruction causes a processor to execute an operation corresponding to the above-mentioned current measurement method based on an array current sensor.

[0065] According to still another aspect of the present application, there is provided a terminal, including: a processor, a memory, a communication interface, and a communication bus, and the processor, the memory, and the communication interface complete communication with each other through the communication bus;

[0066] The memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute an operation corresponding to the above-mentioned current measurement method based on an array current sensor.

[0067] By means of the above technical solutions, the technical solutions provided by the embodiments of the present application at least have the following advantages:

[0068] The present application provides a current measurement method and device, medium, and terminal based on an array current sensor. First, a target array current sensor is used to measure the magnetic induction intensity components of the magnetic field where a target wire is located. The magnetic field is composed of the magnetic field generated by the wire and the uniform magnetic field in the environment. The wire includes the target wire and the adjacent wires of the target wire. Based on each sensor element in the target array current sensor, electromagnetic component expressions corresponding to the x, y, and z axes of the sensor element are constructed respectively. Based on the electromagnetic component expressions corresponding to the x, y, and z axes, an electromagnetic component equation set corresponding to the sensor element is constructed. Among them, the x, y, and z axes are respectively used as target axes, and an electromagnetic component expression corresponding to the target axis is constructed based on the sum of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each wire and the magnetic induction intensity component in the target axis direction of the uniform magnetic field in the environment. The electromagnetic component equation set is solved based on the least squares method to obtain the calculated current value of the target wire. Compared with the prior art, in the embodiment of the present application, by constructing an electromagnetic component equation set corresponding to each sensor element, the electromagnetic component expressions in the electromagnetic component equation set are the sum of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each wire and the magnetic induction intensity component in the target axis direction of the uniform magnetic field in the environment, which is an equation with the magnetic induction intensity components of the magnetic field where the target wire is located measured by the array current sensor. Considering the influence of the magnetic field generated by the wire and the uniform magnetic field in the environment on the measurement result of the array current sensor, the accuracy of the current value of the target wire obtained by solving the electromagnetic component equation set is improved. At the same time, the electromagnetic component equation set is solved using the least squares method. Since the algorithm is mature and easy to implement, the efficiency and accuracy of equation solving are effectively improved, and further the accuracy of the current value of the target wire is improved.

[0069] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically given below. Brief Description of the Drawings

[0070] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0071] Figure 1 A flowchart of a current measurement method based on an array current sensor provided by an embodiment of the present application is shown;

[0072] Figure 2Shows the construction flow chart of the expression of the magnetic induction intensity component in the target axis direction generated by each wire provided in the embodiment of the present application;

[0073] Figure 3 Shows the acquisition flow chart of the magnetic induction intensity component provided in the embodiment of the present application;

[0074] Figure 4 Shows the determination flow chart of the optimal number of sensors provided in the embodiment of the present application;

[0075] Figure 5 Shows the change curve of the measurement error without added noise with the number of sensor elements provided in the embodiment of the present application;

[0076] Figure 6 Shows the change curve of the measurement error with added noise with the number of sensor elements provided in the embodiment of the present application;

[0077] Figure 7 Shows the block diagram of a current measurement device based on an array current sensor provided in the embodiment of the present application;

[0078] Figure 8 Shows the structural schematic diagram of a terminal provided in the embodiment of the present application. Detailed implementation manners

[0079] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0080] At the same time, it should be understood that, for the sake of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship.

[0081] The following description of at least one exemplary embodiment is merely illustrative and in no way limits the present application and its application or use.

[0082] For technologies, methods, and devices known to those of ordinary skill in the relevant art, they may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the specification.

[0083] It should be noted that: similar reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0084] Embodiments of the present application can be applied to a computer system / server, which can operate together with many other general-purpose or special-purpose computing system environments or configurations. Examples of well-known computing systems, environments, and / or configurations suitable for use with a computer system / server include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, minicomputer systems, mainframe computer systems, and distributed cloud computing technology environments including any of the above systems, and so on.

[0085] The computer system / server can be described in the general context of computer system-executable instructions, such as program modules, executed by a computer system. Generally, program modules can include routines, programs, object programs, components, logic, data structures, and so on, which perform specific tasks or implement specific abstract data types. The computer system / server can be implemented in a distributed cloud computing environment, where tasks are executed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0086] Embodiments of the present application provide a current measurement method based on an array current sensor, as Figure 1 shown, the method includes:

[0087] 101. Measure the magnetic induction intensity component of the magnetic field where the target wire is located by using a target array current sensor.

[0088] Among them, the magnetic field is composed of the magnetic field generated by the wire and the uniform magnetic field in the environment; the wire includes the target wire and the adjacent wire of the target wire; the array current sensor can be formed by arranging multiple TMR sensor elements in a circular matrix; the magnetic induction intensity component is used to characterize the components of the magnetic induction intensity of the magnetic field in the x, y, and z axis directions, and can be measured by a three-axis TMR sensor element. In embodiments of the present application, the current execution end can be a current measurement module, and the calculated current value is obtained through calculation using the magnetic induction intensity component read by the array current sensor.

[0089] 102. Respectively based on each sensor element in the target array current sensor, construct the electromagnetic component expressions corresponding to the x, y, and z axes of the sensor element, and based on the electromagnetic component expressions corresponding to the x, y, and z axes, construct the electromagnetic component equation set corresponding to the sensor element.

[0090] Among them, the x, y, and z axes are respectively used as the target axes, and an electromagnetic component expression corresponding to the target axis is constructed based on the sum of the target axis direction magnetic induction intensity components of the magnetic fields generated by each wire and the target axis direction magnetic induction intensity components of the uniform magnetic field in the environment.

[0091] Specifically, the electromagnetic component equations are expressed as the following formulas.

[0092] ,

[0093] Among them, represents the x-axis direction magnetic induction intensity component of the magnetic field where the target wire is located. represents the y-axis direction magnetic induction intensity component of the magnetic field where the target wire is located. represents the z-axis direction magnetic induction intensity component of the magnetic field where the target wire is located. represents the x-axis direction magnetic induction intensity component of the uniform magnetic field in the environment. represents the y-axis direction magnetic induction intensity component of the uniform magnetic field in the environment. represents the z-axis direction magnetic induction intensity component of the uniform magnetic field in the environment. represents the number of wires. represents the wire The x-axis direction magnetic induction intensity component of the magnetic field generated by it. represents the wire The y-axis direction magnetic induction intensity component of the magnetic field generated by it. represents the wire The z-axis direction magnetic induction intensity component of the magnetic field generated by it.

[0094] 103. Solve the electromagnetic component equations based on the least squares method to obtain the calculated current value of the target wire.

[0095] In the embodiments of the present application, the least squares method is used to solve the electromagnetic component equations. Since the algorithm is mature and easy to implement, it effectively improves the efficiency and accuracy of equation solving, and further improves the accuracy of the current value of the target wire.

[0096] Compared with the prior art, in the embodiment of the present application, by constructing an electromagnetic component equation set corresponding to each sensor element, the electromagnetic component expression in the electromagnetic component equation set is the sum of the target-axis direction magnetic induction intensity components of the magnetic fields generated by each wire and the target-axis direction magnetic induction intensity component of the uniform magnetic field in the environment, and the equation of the magnetic induction intensity component of the magnetic field where the target wire is located measured by the array current sensor. Considering the influence of the magnetic field generated by the wire and the uniform magnetic field in the environment on the measurement result of the array current sensor, the accuracy of the current value of the target wire obtained by solving the electromagnetic component equation set is improved. At the same time, the least squares method is used to solve the electromagnetic component equation set. Since the algorithm is mature and easy to implement, the efficiency and accuracy of equation solving are effectively improved, and the accuracy of the current value of the target wire is further improved.

[0097] In an embodiment of the present application, for further limitation and explanation, as Figure 2 shown, a method for constructing an expression of the target-axis direction magnetic induction intensity component of the magnetic field generated by each wire is provided, including:

[0098] 201. Construct a first magnetic induction intensity component expression based on Ampere's loop principle,

[0099] ,

[0100] where, represents the distance from the position where the k-th sensor element is located to the wire , represents the wire on the magnetic field direction of the k-th sensor element,

[0101] 202. Convert the distance from the position where the sensor element is located to the wire into the form of the product of the direction vector and the displacement, and obtain the distance expression from the position where the sensor element is located to the wire,

[0102] ,

[0103] where, represents the direction vector of the wire , represents the displacement between the intersection point of the wire and the plane where the array current sensor is located and the position where the k-th sensor element of the array current sensor is located.

[0104] 203. Based on the distance expression from the position where the sensor element is located to the wire, perform a form conversion on the magnetic field direction of the wire on the sensor element to obtain the magnetic field direction expression of the wire on the sensor element,

[0105] ;

[0106] 204. Update the first magnetic induction intensity component expression based on the distance expression from the position of the sensor element to the wire and the magnetic field direction expression of the wire on the sensor element, and obtain the second magnetic induction intensity component expression.

[0107] ;

[0108] 205. Obtain the coordinates of the position of the sensor element of the array current sensor and the coordinates of the intersection point of the wire and the plane where the array current sensor is located. Determine the expression of the displacement between the intersection point of the wire and the plane where the array current sensor is located and the position of the sensor element of the array current sensor according to the coordinates of the position of the sensor element and the coordinates of the intersection point, and substitute the expression of the displacement into the second magnetic induction intensity component expression to obtain the target axis direction magnetic induction intensity component expression of the magnetic field generated by each wire.

[0109] ,

[0110] where, represents the magnetic induction intensity of the magnetic field generated by the wire . represents the vacuum permeability. represents the calculated current value of the wire . represents the direction vector of the wire . represents the angle between the wire and the positive direction of the first axis. represents the angle between the projection line of the wire on the plane formed by the second axis and the third axis and the positive direction of the second axis. When the first axis is the z-axis, the second axis is the x-axis and the third axis is the y-axis. When the first axis is the x-axis, the second axis is the y-axis and the third axis is the z-axis. When the first axis is the y-axis, the second axis is the z-axis and the third axis is the x-axis. represents the displacement between the intersection point of the wire and the k-th sensor element position of the array current sensor. represents the coordinates of the k-th sensor element position of the array current sensor. represents the radius of the array current sensor. represents the k-th sensor element of the array current sensor. represents the number of sensor elements. represents the wire . represents the coordinates of the intersection point of the wire The distance from the plane where the array current sensor is located represents a wire and the included angle with the plane where the array current sensor is located.

[0111] Steps 201-205 in the above embodiments are a detailed description of the construction process of the expression of the magnetic induction intensity component in the target axis direction of the magnetic field generated by each wire. Among them, the plane where the target array current sensor is located is the xoy plane of the coordinate axis.

[0112] In an embodiment of the present application, for further limitation and explanation, as Figure 3 shown, step 101 of the embodiment uses a target array current sensor to measure the magnetic induction intensity component of the magnetic field where the target wire is located, including:

[0113] 301. Pre-sleeve the target array current sensor on the target wire.

[0114] 302. Read the output voltage components of each sensor element included in the target array current sensor in each axis direction.

[0115] Among them, the target array current sensor includes multiple sensor elements; the sensor element is integrated by three single-axis chips, and the three single-axis chips respectively measure the output voltage components of the magnetic field where the target wire is located in the x-axis, y-axis, and z-axis directions.

[0116] 303. Divide each output voltage component by the sensitivity parameter of the target array current sensor to obtain the magnetic induction intensity component corresponding to each output voltage component.

[0117] Among them, an array current sensor has only one sensitivity parameter.

[0118] In an embodiment of the present application, for further limitation and explanation, as Figure 4 shown, the embodiment method further includes:

[0119] 401. Use different array current sensors to measure the magnetic induction intensity component of the magnetic field where the target wire is located.

[0120] Among them, the difference between different array current sensors lies in the different numbers of sensor elements included. In the embodiment of the present application, the number of sensor elements of the selected array current sensor can be 4 or more.

[0121] 402. According to the magnetic induction intensity components obtained by each array current sensor, construct a corresponding electromagnetic component equation set, solve to obtain the corresponding calculated current value, and calculate the error between each calculated current value and the true current value of the target wire to obtain the measurement error of each array current sensor.

[0122] In the embodiments of the present application, an electromagnetic component equation set is constructed for each array current sensor and solved to obtain the error between the calculated current value and the true current value according to the calculated current values obtained by using different array current sensors,

[0123]

[0124] wherein, represents the error between the calculated current value and the true current value, represents the true current value.

[0125] 403. Based on a preset simulation software, perform a simulation operation according to each measurement error to obtain a curve of the change of the measurement error with the number of sensor elements.

[0126] In the embodiments of the present application, according to the measurement errors of the above several array current sensors, a simulation software can be used to generate a curve of the change of the measurement error with the number of sensor elements to analyze the influence of the number of sensor elements on the measurement error.

[0127] It should be noted that since there will be offset voltage and random noise interference in the actual use of the triaxial TMR sensor element, therefore, the interference situation can be simulated by adding Gaussian white noise to the data of the magnetic induction intensity component. The curve of the change of the measurement error without adding noise with the number of sensor elements is as Figure 5 shown; the curve of the change of the measurement error with added noise with the number of sensor elements is as Figure 6 shown, wherein, represents the error between the calculated current value and the true current value obtained by using the existing method, represents the error between the calculated current value and the true current value obtained by using the method of the present application.

[0128] 404. Determine the optimal number of sensor elements according to the change curve, and use an array current sensor with the number of sensor elements being the optimal number of sensor elements to measure the current.

[0129] In the embodiments of the present application, according to the curve of the change of the measurement error with the number of sensor elements obtained in step 403 of the embodiment it can be known that when the number of sensor elements reaches 4 (i.e., the optimal number of sensor elements), the maximum magnitude of the error is 1e-8. At this time, the accuracy rate of the calculated current value has met the requirements. Therefore, an array current sensor with 4 sensor elements can be used to measure the current.

[0130] The present application provides a current measurement method based on an array current sensor. First, the target array current sensor is used to measure the magnetic induction intensity components of the magnetic field where the target wire is located. The magnetic field is composed of the magnetic field generated by the wire and the uniform magnetic field in the environment. The wire includes the target wire and the adjacent wires of the target wire. Based on each sensor element in the target array current sensor, electromagnetic component expressions corresponding to the x, y, and z axes of the sensor element are constructed respectively. Based on the electromagnetic component expressions corresponding to the x, y, and z axes, an electromagnetic component equation set corresponding to the sensor element is constructed. Among them, the x, y, and z axes are respectively used as the target axes, and the electromagnetic component expressions corresponding to the target axes are constructed based on the sum of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each wire and the magnetic induction intensity components in the target axis direction of the uniform magnetic field in the environment. The electromagnetic component equation set is solved based on the least squares method to obtain the calculated current value of the target wire. Compared with the prior art, in the embodiment of the present application, by constructing the electromagnetic component equation set corresponding to each sensor element, the electromagnetic component expressions in the electromagnetic component equation set are the sum of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each wire and the magnetic induction intensity components in the target axis direction of the uniform magnetic field in the environment, which is an equation with the magnetic induction intensity components of the magnetic field where the target wire is located measured by the array current sensor. Considering the influence of the magnetic field generated by the wire and the uniform magnetic field in the environment on the measurement result of the array current sensor, the accuracy of the current value of the target wire obtained by solving the electromagnetic component equation set is improved. At the same time, the least squares method is used to solve the electromagnetic component equation set. Since the algorithm is mature and easy to implement, the efficiency and accuracy of equation solving are effectively improved, and further the accuracy of the current value of the target wire is improved.

[0131] Further, as an implementation of the above Figure 1 shown method, the embodiment of the present application provides a current measurement device based on an array current sensor, as Figure 7 shown. The device includes:

[0132] A magnetic induction intensity component measurement module 51, an electromagnetic component equation set construction module 52, and an equation set solving module 53;

[0133] The magnetic induction intensity component measurement module 51 is used to measure the magnetic induction intensity components of the magnetic field where the target wire is located by using the target array current sensor. The magnetic field is composed of the magnetic field generated by the wire and the uniform magnetic field in the environment. The wire includes the target wire and the adjacent wires of the target wire;

[0134] The electromagnetic component equation set construction module 52 is configured to respectively construct electromagnetic component expressions corresponding to the x, y, and z axes of each sensor element in the target array current sensor, and construct an electromagnetic component equation set corresponding to the sensor element based on the electromagnetic component expressions corresponding to the x, y, and z axes. Wherein, the x, y, and z axes are respectively used as target axes, and an electromagnetic component expression corresponding to the target axis is constructed based on the sum of the target axis direction magnetic induction intensity components of the magnetic fields generated by each wire and the target axis direction magnetic induction intensity component of the uniform magnetic field in the environment. The expression of the target axis direction magnetic induction intensity component of the magnetic field generated by each wire is represented by the following formula:

[0135] ,

[0136] Wherein, represents the magnetic induction intensity of the magnetic field generated by wire represents the vacuum permeability, represents the calculated current value of wire represents the direction vector of wire represents the angle between wire and the positive direction of the first axis, represents the angle between the projection line of wire on the plane formed by the second axis and the third axis and the positive direction of the second axis. When the first axis is the z axis, the second axis is the x axis and the third axis is the y axis. When the first axis is the x axis, the second axis is the y axis and the third axis is the z axis. When the first axis is the y axis, the second axis is the z axis and the third axis is the x axis. represents the displacement between the intersection point of wire and the plane where the array current sensor is located and the position of the kth sensor element of the array current sensor, represents the coordinates of the position of the kth sensor element of the array current sensor, represents the radius of the array current sensor, represents the kth sensor element of the array current sensor, represents the number of sensor elements, represents wire represents the coordinates of the intersection point of wire and the plane where the array current sensor is located, represents the distance between wire and the plane where the array current sensor is located;

[0137] ​​​​The equation set solving module 53 is configured to solve the electromagnetic component equation set based on the least squares method to obtain the calculated current value of the target wire.

[0138] In a specific application scenario, before the electromagnetic component equation set construction module, the device further includes a target axis direction magnetic induction intensity component expression construction module, configured to construct the target axis direction magnetic induction intensity component expression of the magnetic field generated by each wire, specifically:

[0139] Construct a first magnetic induction intensity component expression based on Ampere's loop principle,

[0140] ,

[0141] where, represents the distance from the position where the k-th sensor element is located to the wire , represents the wire on the magnetic field direction of the k-th sensor element;

[0142] Convert the distance from the position where the sensor element is located to the wire into the form of the product of the direction vector and the displacement to obtain the distance expression from the position where the sensor element is located to the wire,

[0143] ,

[0144] where, represents the direction vector of the wire , represents the wire and the displacement between the intersection point of the plane where the array current sensor is located and the position where the k-th sensor element of the array current sensor is located;

[0145] Based on the distance expression from the position where the sensor element is located to the wire, perform a form conversion on the magnetic field direction of the wire on the sensor element to obtain the magnetic field direction expression of the wire on the sensor element,

[0146] ;

[0147] Based on the distance expression from the position where the sensor element is located to the wire and the magnetic field direction expression of the wire on the sensor element, update the first magnetic induction intensity component expression to obtain a second magnetic induction intensity component expression,

[0148] ;

[0149] Obtain the coordinates of the positions where the sensor elements of the array current sensor are located, as well as the coordinates of the intersection points of the wire and the plane where the array current sensor is located. Determine the expression of the displacement between the intersection point of the wire and the plane where the array current sensor is located and the position where the sensor elements of the array current sensor are located according to the coordinates of the positions where the sensor elements are located and the coordinates of the intersection points, and substitute the expression of the displacement into the expression of the second magnetic induction intensity component to obtain the expression of the magnetic induction intensity component in the target axis direction of the magnetic field generated by each wire.

[0150] In a specific application scenario, the magnetic induction intensity component measurement module is used for:

[0151] Pre-sleeve the target array current sensor on the target wire;

[0152] Read the output voltage components of each sensor element included in the target array current sensor in each axis direction;

[0153] Divide each of the output voltage components by the sensitivity parameter of the target array current sensor to obtain the magnetic induction intensity components corresponding to each of the output voltage components.

[0154] In a specific application scenario, the device further includes an optimal sensor element number determination module, which is used for:

[0155] Use different array current sensors to measure the magnetic induction intensity components of the magnetic field where the target wire is located. The difference between the different array current sensors lies in the number of sensor elements they contain;

[0156] According to the magnetic induction intensity components obtained by each of the array current sensors, construct corresponding electromagnetic component equations, solve to obtain the corresponding calculated current values, and calculate the errors between each of the calculated current values and the true current value of the target wire to obtain the measurement errors of each of the array current sensors;

[0157] Based on a preset simulation software, perform a simulation operation according to each of the measurement errors to obtain a curve of the change of the measurement error with the number of sensor elements;

[0158] Determine the optimal number of sensor elements according to the change curve, and use an array current sensor with the number of sensor elements being the optimal number of sensor elements to perform current measurement.

[0159] In a specific application scenario, the target array current sensor includes a plurality of sensor elements, and the sensor elements are integrated by three single-axis chips. The three single-axis chips respectively measure the output voltage components of the magnetic field where the target wire is located in the x-axis, y-axis, and z-axis directions.

[0160] The present application provides a current measurement device based on an array current sensor. First, a target array current sensor is used to measure the magnetic induction intensity components of the magnetic field where a target wire is located. The magnetic field is composed of the magnetic field generated by the wire and the uniform magnetic field in the environment. The wire includes the target wire and the adjacent wires of the target wire. Based on each sensor element in the target array current sensor, electromagnetic component expressions corresponding to the x, y, and z axes of the sensor element are constructed respectively. Based on the electromagnetic component expressions corresponding to the x, y, and z axes, an electromagnetic component equation set corresponding to the sensor element is constructed. Among them, the x, y, and z axes are respectively used as target axes, and an electromagnetic component expression corresponding to the target axis is constructed based on the sum of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each wire and the magnetic induction intensity component in the target axis direction of the uniform magnetic field in the environment. Based on the least squares method, the electromagnetic component equation set is solved to obtain the calculated current value of the target wire. Compared with the prior art, in the embodiment of the present application, by constructing an electromagnetic component equation set corresponding to each sensor element, the electromagnetic component expressions in the electromagnetic component equation set are the sum of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each wire and the magnetic induction intensity component in the target axis direction of the uniform magnetic field in the environment, which is an equation with the magnetic induction intensity components of the magnetic field where the target wire is located measured by the array current sensor. Considering the influence of the magnetic field generated by the wire and the uniform magnetic field in the environment on the measurement result of the array current sensor, the accuracy of the current value of the target wire obtained by solving the electromagnetic component equation set is improved. At the same time, the least squares method is used to solve the electromagnetic component equation set. Since the algorithm is mature and easy to implement, the efficiency and accuracy of equation solving are effectively improved, and further the accuracy of the current value of the target wire is improved.

[0161] According to an embodiment of the present application, a storage medium is provided. The storage medium stores at least one executable instruction, and the computer executable instruction can execute the access test method of the interface in any of the above method embodiments.

[0162] Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various implementation scenarios of the present application.

[0163] Figure 8 The structural schematic diagram of a terminal provided according to an embodiment of the present application is shown. The specific implementation of the terminal is not limited in the specific embodiments of the present application.

[0164] As Figure 8As shown in the figure, the terminal may include: a processor 602, a communication interface 604, a memory 606, and a communication bus 608.

[0165] Among them: The processor 602, the communication interface 604, and the memory 606 communicate with each other through the communication bus 608.

[0166] The communication interface 604 is used to communicate with network elements of other devices such as clients or other servers.

[0167] The processor 602 is used to execute the program 610, and specifically can execute the relevant steps in the above embodiments of the current measurement method based on the array current sensor.

[0168] Specifically, the program 610 may include program code, and the program code includes computer operation instructions.

[0169] The processor 602 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the computer device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0170] The memory 606 is used to store the program 610. The memory 606 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0171] The program 610 is specifically used to cause the processor 602 to perform the following operations:

[0172] Measure the magnetic induction intensity component of the magnetic field where the target wire is located by using the target array current sensor. The magnetic field is composed of the magnetic field generated by the wire and the uniform magnetic field in the environment. The wire includes the target wire and the adjacent wire of the target wire;

[0173] Based on each sensor element in the target array current sensor, construct the electromagnetic component expressions corresponding to the x, y, and z axes of the sensor element respectively. Based on the electromagnetic component expressions corresponding to the x, y, and z axes respectively, construct the electromagnetic component equation system of the sensor element. Among them, taking the x, y, and z axes as the target axes respectively, construct the electromagnetic component expressions corresponding to the target axes based on the sum of the magnetic induction intensity components in the target axis direction of the magnetic fields generated by each wire and the magnetic induction intensity component in the target axis direction of the uniform magnetic field in the environment;

[0174] Solve the electromagnetic component equations based on the least squares method to obtain the calculated current value of the target wire.

[0175] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device of the above-mentioned current measurement method based on the array current sensor, and supports the operation of the information processing program and other software and / or programs. The network communication module is used to implement communication between components inside the storage medium, as well as communication with other hardware and software in the information processing physical device.

[0176] In the present specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.

[0177] The methods and systems of the present application can be implemented in many ways. For example, the methods and systems of the present application can be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of the steps for the method is only for illustration, and the steps of the method of the present application are not limited to the specific order described above, unless otherwise specifically stated. In addition, in some embodiments, the present application can also be implemented as a program recorded in a recording medium, and these programs include machine-readable instructions for implementing the method according to the present application. Therefore, the present application also covers a recording medium storing a program for executing the method according to the present application.

[0178] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present application can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented by program codes executable by the computing device, so that they can be stored in the storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order than here, or they can be separately made into individual integrated circuit modules, or multiple modules or steps among them can be made into a single integrated circuit module to implement. In this way, the present application is not limited to any specific combination of hardware and software.

[0179] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A current measurement method based on an array current sensor, characterized in that: include: Using a target array current sensor to measure the magnetic induction intensity component of the magnetic field in which the target conductor is located, the magnetic field is composed of the superposition of the magnetic field generated by the conductor and the uniform magnetic field in the environment, and the conductors include the target conductor and the conductors adjacent to the target conductor; Based on each sensor element in the target array current sensor, the electromagnetic component expressions corresponding to the x, y, and z axes of the sensor elements are constructed respectively. Based on the electromagnetic component expressions corresponding to the x, y, and z axes, the electromagnetic component equations corresponding to the sensor elements are constructed, wherein the x, y, and z axes are respectively used as target axes, and the electromagnetic component expressions corresponding to the target axes are constructed based on the sum of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each conductor and the magnetic induction intensity components in the target axis direction of the uniform magnetic field in the environment. The expressions of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each conductor are expressed as the following formula: ， in, Indicates wire The magnetic induction intensity of the magnetic field generated, represents the vacuum permeability, Indicates wire The calculated current value is Indicates wire The direction vector, Indicates wire The angle with the positive direction of the first axis, Indicates wire The angle between the projection line on the plane formed by the second axis and the third axis and the positive direction of the second axis. When the first axis is the z axis, the second axis is the x axis and the third axis is the y axis. When the first axis is the x axis, the second axis is the y axis and the third axis is the z axis. When the first axis is the y axis, the second axis is the z axis and the third axis is the x axis. Indicates wire The displacement between the intersection point with the plane where the array current sensor is located and the point where the kth sensor element of the array current sensor is located, represents the coordinates of the point where the kth sensor element of the array current sensor is located, represents the radius of the array current sensor, represents the kth sensor element of the array current sensor, represents the number of sensor elements, Indicates wire The coordinates of the intersection point with the plane where the array current sensor is located, Indicates wire The distance from the plane where the array current sensor is located, Indicates wire Angle with the plane where the array current sensor is located; The electromagnetic component equations are solved based on the least square method to obtain the calculated current value of the target conductor.

2. The method according to claim 1, characterized in that The electromagnetic component equations are expressed as the following formula: ， in, Represents the x-axis magnetic induction intensity component of the magnetic field where the target wire is located. Represents the magnetic induction intensity component of the target wire in the y-axis direction of the magnetic field. Represents the magnetic induction intensity component of the target wire in the z-axis direction of the magnetic field. Represents the x-axis magnetic induction intensity component of the uniform magnetic field in the environment, Represents the magnetic induction intensity component in the y-axis direction of the uniform magnetic field in the environment, Represents the z-axis magnetic induction intensity component of the uniform magnetic field in the environment, Indicates the number of wires, Indicates wire The x-axis magnetic induction intensity component of the generated magnetic field is Indicates wire The magnetic induction intensity component of the generated magnetic field in the y-axis direction is Indicates wire The z-axis magnetic flux density component of the generated magnetic field.

3. The method according to claim 1, characterized in that Construct the expression of the magnetic induction intensity component in the target axis direction of the magnetic field generated by each conductor, including: Based on the Ampere loop principle, the expression of the first magnetic induction intensity component is constructed. ， in, Indicates the distance from the kth sensor element to the conductor The distance Indicates wire The direction of the magnetic field at the kth sensor element; The distance from the sensor element to the conductor is converted into the product of the direction vector and the displacement, and the distance expression from the sensor element to the conductor is obtained. ， in, Indicates wire The direction vector, Indicates wire The displacement between the intersection point with the plane where the array current sensor is located and the point where the kth sensor element of the array current sensor is located; Based on the distance expression from the point where the sensor element is located to the wire, the magnetic field direction of the wire on the sensor element is converted into a form to obtain the magnetic field direction expression of the wire on the sensor element. ； Based on the distance expression from the point where the sensor element is located to the wire and the magnetic field direction expression of the wire on the sensor element, the first magnetic induction intensity component expression is updated to obtain the second magnetic induction intensity component expression, ； The coordinates of the points where the sensor elements of the array current sensor are located and the coordinates of the intersections of the conductors and the plane where the array current sensor is located are obtained, and an expression for the displacement between the intersection of the conductors and the plane where the array current sensor is located and the points where the sensor elements of the array current sensor are located is determined according to the coordinates of the points where the sensor elements are located and the coordinates of the intersections, and the expression for the displacement is substituted into the expression for the second magnetic induction intensity component to obtain an expression for the magnetic induction intensity component in the target axis direction of the magnetic field generated by each conductor.

4. The method according to claim 1, characterized in that: The method of measuring the magnetic induction intensity component of the magnetic field in which the target conductor is located by using the target array current sensor comprises: Pre-sleeving the target array current sensor on the target wire; Reading the output voltage components of each sensor element included in the target array current sensor in each axial direction; Each of the output voltage components is divided by the sensitivity parameter of the target array current sensor to obtain a magnetic induction intensity component corresponding to each of the output voltage components.

5. The method according to claim 1, characterized in that The method further comprises: Using different array current sensors to measure the magnetic induction intensity component of the magnetic field in which the target conductor is located, the different array current sensors differ in the number of sensor elements they contain; According to the magnetic induction intensity components obtained by each array current sensor, a corresponding electromagnetic component equation group is constructed, and the corresponding calculated current value is obtained by solving the equation group, and the error between each calculated current value and the true current value of the target conductor is calculated to obtain the measurement error of each array current sensor; Based on the preset simulation software, simulation operations are performed according to each of the measurement errors to obtain a curve of measurement error changing with the number of sensor elements; An optimal number of sensor elements is determined according to the variation curve, and current measurement is performed using an array current sensor having the optimal number of sensor elements.

6. The method according to claim 4, characterized in that The target array current sensor comprises a plurality of sensor elements, and the sensor element is integrated by three single-axis chips, and the three single-axis chips respectively measure the output voltage components of the magnetic field where the target conductor is located in the x-axis, y-axis and z-axis directions.

7. A current measuring device based on an array current sensor, characterized in that: include: A magnetic induction intensity component measurement module is used to measure the magnetic induction intensity component of the magnetic field in which the target wire is located using a target array current sensor, wherein the magnetic field is composed of the magnetic field generated by the wire and the uniform magnetic field in the environment, and the wires include the target wire and the wires adjacent to the target wire; The electromagnetic component equation group construction module is used to construct the electromagnetic component expressions corresponding to the x, y, and z axes corresponding to the sensor elements based on each sensor element in the target array current sensor, and to construct the electromagnetic component equation group corresponding to the sensor elements based on the electromagnetic component expressions corresponding to the x, y, and z axes, respectively, wherein the x, y, and z axes are taken as target axes, and the electromagnetic component expressions corresponding to the target axes are constructed based on the sum of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each conductor and the magnetic induction intensity components in the target axis direction of the uniform magnetic field in the environment. The expressions of the magnetic induction intensity components in the target axis direction of the magnetic field generated by each conductor are expressed as the following formulas: ， in, Indicates wire The magnetic induction intensity of the magnetic field generated, represents the vacuum permeability, Indicates wire The calculated current value is Indicates wire The direction vector of Indicates wire The angle with the positive direction of the first axis, Indicates wire The angle between the projection line on the plane formed by the second axis and the third axis and the positive direction of the second axis. When the first axis is the z axis, the second axis is the x axis and the third axis is the y axis. When the first axis is the x axis, the second axis is the y axis and the third axis is the z axis. When the first axis is the y axis, the second axis is the z axis and the third axis is the x axis. Indicates wire The displacement between the intersection point with the plane where the array current sensor is located and the point where the kth sensor element of the array current sensor is located, represents the coordinates of the point where the kth sensor element of the array current sensor is located, represents the radius of the array current sensor, represents the kth sensor element of the array current sensor, represents the number of sensor elements, Indicates wire The coordinates of the intersection point with the plane where the array current sensor is located, Indicates wire The distance from the plane where the array current sensor is located, Indicates wire Angle with the plane where the array current sensor is located; The equation group solving module is used to solve the electromagnetic component equation group based on the least square method to obtain the calculated current value of the target conductor.

8. A storage medium, wherein at least one executable instruction is stored in the storage medium, characterized in that: The executable instructions enable the processor to execute operations corresponding to the current measurement method based on an array current sensor according to any one of claims 1 to 6.

9. A terminal, comprising: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, wherein the executable instruction enables the processor to perform operations corresponding to the current measurement method based on an array current sensor as described in any one of claims 1 to 6.

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