Online calibration method, system and equipment for metering error of current transformer and medium

Abstract

The invention belongs to the technical field of electric power system measurement and calibration, and discloses an on-line calibration method, system and device for a metering error of a current transformer and a medium so as to solve the problem of the metering error of the current transformer under a dynamic working condition. The method comprises the following steps: injecting a preset pilot frequency current signal into a secondary side loop of the current transformer; winding voltage, load voltage, excitation current and load current of a secondary side loop of the current transformer are collected in real time, excitation impedance under the pilot frequency condition is calculated based on the winding voltage and the excitation current, and load impedance under the pilot frequency condition is calculated based on the load voltage and the load current; based on the frequency characteristics of the excitation impedance and the load impedance, the excitation reactance under the pilot frequency condition is converted to the power frequency condition in proportion to obtain converted parameters, and the ratio error and the angle error of the current transformer are calculated based on the converted parameters; and the output current of the current transformer is corrected in real time based on the ratio difference and the angular difference, so that online calibration of the metering error of the current transformer is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of power system measurement and calibration, and specifically relates to an online calibration method, system, device and medium for the metering error of current transformers. Background Art

[0002] A current transformer (CT) is a key device for current measurement in a power system. Its core function is to convert high voltage or large current into a standard secondary current (such as 5A or 1A) in proportion, so as to provide accurate data for electric energy metering, relay protection, equipment monitoring, etc. However, during long-term operation, the current transformer may have error drift due to various factors. On the one hand, the characteristics of the iron core will change. For example, the magnetic properties of the iron core material change due to aging, hysteresis, saturation, etc., which affects the accuracy of the excitation impedance. On the other hand, the dynamic change of the secondary load impedance will cause the output of the current transformer to deviate from the standard value. In addition, the change of environmental factors (such as temperature and humidity) will also affect the measurement accuracy of the current transformer.

[0003] The metering error calibration of current transformers is a key link to ensure the safe and economic operation of the power system. At present, traditional calibration methods mainly adopt the off-line method, that is, the current transformer needs to be disassembled from the operating line or connected to a standard calibrator (such as a transformer calibrator) after power outage for detection. However, this method has obvious limitations: First, this method is complex in operation and poor in economy. Power outage or disassembling equipment not only increases the operation and maintenance cost, but also may affect the power supply continuity, especially not suitable for scenarios with high reliability requirements. Second, this method can only reflect the fixed working condition error at the calibration moment and cannot track the error drift caused by dynamic load changes, temperature fluctuations and other factors in real time. Third, this method has weak anti-interference ability, and the calibration signal (usually 50Hz power frequency) is easily interfered by the electromagnetic noise of the main circuit, resulting in a decrease in measurement accuracy and affecting the reliability of the calibration result. Summary of the Invention

[0004] Based on the above-mentioned disadvantages and deficiencies existing in the prior art, one of the purposes of the present invention is to at least solve one or more of the above-mentioned problems existing in the prior art. In other words, one of the purposes of the present invention is to provide an online calibration method, system, device and medium for the metering error of current transformers that meet one or more of the foregoing requirements, aiming to solve the metering error problem of current transformers under dynamic working conditions, so as to achieve online and accurate error calibration.

[0005] In order to achieve the above invention purpose, the present invention adopts the following technical solutions: In a first aspect, the present invention provides an on-line calibration method for the metering error of a current transformer, including the steps of: S1. Injecting a preset heterodyne current signal into the secondary side circuit of the current transformer, where the frequency of the heterodyne current signal is an integer multiple or a non-integer multiple of the power frequency, the amplitude range is [0.1 A, 5 A], and the phase control accuracy is ; S2. Real-time collecting the winding voltage, load voltage, exciting current, and load current of the secondary side circuit of the current transformer, calculating the exciting impedance under heterodyne conditions based on the winding voltage and the exciting current, and calculating the load impedance under heterodyne conditions based on the load voltage and the load current; S3. Based on the frequency characteristics of the exciting impedance and the load impedance, converting the exciting reactance under heterodyne conditions proportionally to power frequency conditions to obtain the converted parameters, and calculating the ratio error and angle error of the current transformer based on the converted parameters; S4. Real-time correcting the output current of the current transformer based on the ratio error and the angle error, so as to realize the on-line calibration of the metering error of the current transformer.

[0006] As a preferred solution, the frequency of the heterodyne current signal is set to 100 or 150 .

[0007] As a preferred solution, the calculation formula for the exciting impedance under heterodyne conditions is , where represents the exciting impedance under heterodyne conditions, is the heterodyne winding voltage, is the exciting current, is the exciting resistance under heterodyne conditions, is the exciting reactance under heterodyne conditions, is a constant; The calculation formula for the load impedance under heterodyne conditions is , where represents the load impedance under heterodyne conditions, is the load voltage, is the load current.

[0008] As a preferred solution, the calculation formula for the ratio error is , where represents the ratio error, is the exciting impedance under heterodyne conditions, is the load impedance under heterodyne conditions; the calculation formula for the angle error is , where represents the angle error, is the exciting reactance under power frequency conditions, is the exciting resistance under power frequency conditions, is the load resistance, is the load reactance; the magnetizing reactance under the power frequency condition The conversion formula is , where is the magnetizing reactance under the different frequency condition, is the power frequency, is the different frequency; the magnetizing resistance under the power frequency condition The conversion formula is , where is the magnetizing resistance under the different frequency condition.

[0009] In a second aspect, the present invention provides an on-line calibration system for the metering error of a current transformer. Based on the on-line calibration method for the metering error of a current transformer described in the first aspect, it includes a different frequency current signal injection module, a data acquisition module, a calculation module, an error derivation module, and an on-line calibration module; the different frequency current signal injection module is used to inject a preset different frequency current signal into the secondary side circuit of the current transformer; the data acquisition module is used to collect the winding voltage, load voltage, magnetizing current, and load current of the secondary side circuit of the current transformer in real time; the calculation module calculates the magnetizing impedance under the different frequency condition based on the winding voltage and the magnetizing current, and also calculates the load impedance under the different frequency condition based on the load voltage and the load current; the error derivation module converts the magnetizing reactance under the different frequency condition to the power frequency condition in proportion based on the frequency characteristics of the magnetizing impedance and the load impedance to obtain the converted parameters, and calculates the ratio error and phase error of the current transformer based on the converted parameters; the on-line calibration module corrects the output current of the current transformer in real time based on the ratio error and the phase error, so as to realize the on-line calibration of the metering error of the current transformer.

[0010] As a preferred solution, the different frequency current signal injection module includes a signal generator and an injection controller; the frequency of the different frequency current signal is an integer multiple or a non-integer multiple of the power frequency, and the amplitude range is [0.1A, 5A], and the phase control accuracy is .

[0011] As a preferred solution, the data acquisition module includes a voltage sensor and a current sensor.

[0012] As a preferred solution, the on-line calibration module is connected to an electric energy metering device to output the corrected current value in real time.

[0013] In a third aspect, the present invention provides an electronic device, which includes a memory, a processor, and a computer program. When the computer program is executed by the processor, it realizes the on-line calibration method described in the first aspect.

[0014] Fourthly, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the online calibration method described in the first aspect is implemented.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. By injecting a heterodyne current signal into the secondary circuit of the current transformer, direct calibration is achieved under the operating state without power outage or equipment disassembly, solving the power supply interruption problem caused by traditional off-line calibration and significantly reducing the operation and maintenance cost.

[0016] 2. By using the heterodyne signal to avoid power frequency interference and combining with the accurate calculation of the exciting impedance and load impedance, the error evaluation accuracy is improved.

[0017] Further or more detailed beneficial effects will be described in combination with specific embodiments in the specific implementation manners. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 is a flowchart of the online calibration method described in the embodiments of the present invention.

[0020] Figure 2 is a structural diagram of the online calibration method system described in the embodiments of the present invention.

[0021] Figure 3 is a structural diagram of the electronic device described in the embodiments of the present invention.

[0022] Reference Numerals in the Drawings: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in combination with the drawings in the embodiments of the present invention.

[0024] In the following description, multiple embodiments of the present invention are provided, and different embodiments can be replaced or combined. Therefore, the present invention can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present invention should also be considered to include embodiments that contain one or more of all other possible combinations of A, B, C, and D, even though such embodiments may not be explicitly described in the following content.

[0025] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the present invention. Various processes or components can be appropriately omitted, substituted, or added to each example. For example, the described method can be executed in a different order than the described order, and various steps can be added, omitted, or combined. In addition, the features described for some examples can be combined into other examples.

[0026] To facilitate a better understanding of the embodiments of the present invention, before explaining the specific embodiments of the present invention in detail, its application scenarios will be described first.

[0027] The online calibration method described in the embodiments of this specification is applied to the power metering scenarios of industrial parks, large commercial facilities, and critical load users. In these scenarios, the application of the online calibration method aims to enable the current transformer to achieve high-precision and uninterrupted error calibration under the actual operating conditions, thereby significantly improving the accuracy and reliability of the power metering system, while effectively reducing the operation and maintenance costs and production losses.

[0028] Embodiment 1: As Figure 1 shown, this embodiment provides an online calibration method for the metering error of a current transformer, including the steps: S1. Inject a preset off-frequency current signal into the secondary side circuit of the current transformer. The frequency of the off-frequency current signal is an integer multiple or a non-integer multiple of the power frequency, the amplitude range is [0.1 A, 5 A], and the phase control accuracy is ; S2. Real-time collect the winding voltage, load voltage, exciting current, and load current of the secondary side circuit of the current transformer, and calculate the exciting impedance under off-frequency conditions based on the winding voltage and the exciting current, and calculate the load impedance under off-frequency conditions based on the load voltage and the load current; S3. Based on the frequency characteristics of the exciting impedance and the load impedance, convert the exciting reactance under off-frequency conditions to the power frequency conditions in proportion to obtain the converted parameters, and calculate the ratio error and phase angle error of the current transformer based on the converted parameters; S4. Based on the ratio error and the phase angle error, correct the output current of the current transformer in real time, and the correction formula is , where represents the output current of the current transformer after correction, represents the output current of the current transformer before correction, represents the ratio error, thereby realizing the on-line calibration of the measurement error of the current transformer.

[0029] Specifically, this embodiment provides a preferred implementation manner, and the frequency of the off-frequency current signal is set to 100 or 150 .

[0030] Specifically, this embodiment provides a preferred implementation manner, and the calculation formula for the magnetizing impedance under off-frequency conditions is , where represents the magnetizing impedance under off-frequency conditions, is the off-frequency winding voltage, is the magnetizing current, is the magnetizing resistance under off-frequency conditions, is the magnetizing reactance under off-frequency conditions, is a constant; The calculation formula for the load impedance under off-frequency conditions is , where represents the load impedance under off-frequency conditions, is the load voltage, is the load current.

[0031] Specifically, this embodiment provides a preferred implementation manner, and the calculation formula for the ratio error is , where represents the ratio error, is the magnetizing impedance under off-frequency conditions, is the load impedance under off-frequency conditions; the calculation formula for the angular error is , where represents the angular error, is the magnetizing reactance under power frequency conditions, is the magnetizing resistance under power frequency conditions, is the load resistance, is the load reactance; the conversion formula for the magnetizing reactance under power frequency conditions is , where is the magnetizing reactance under off-frequency conditions, is the power frequency, is the off-frequency; the conversion formula for the magnetizing resistance under power frequency conditions is , where is the magnetizing resistance under off-frequency conditions.

[0032] Embodiment 2: As Figure 2 shown, this embodiment provides an on-line calibration system for the metering error of a current transformer, based on the on-line calibration method for the metering error of a current transformer described in the first aspect, including a heterodyne current signal injection module, a data acquisition module, a calculation module, an error derivation module, and an on-line calibration module; the heterodyne current signal injection module is used to inject a preset heterodyne current signal into the secondary side circuit of the current transformer; the data acquisition module is used to collect the winding voltage, load voltage, exciting current, and load current of the secondary side circuit of the current transformer in real time; the calculation module calculates the exciting impedance under heterodyne conditions based on the winding voltage and the exciting current, and also calculates the load impedance under heterodyne conditions based on the load voltage and the load current; the error derivation module converts the exciting reactance under heterodyne conditions to the power frequency condition in proportion based on the frequency characteristics of the exciting impedance and the load impedance to obtain the converted parameters, and calculates the ratio error and phase error of the current transformer based on the converted parameters; the on-line calibration module corrects the output current of the current transformer in real time based on the ratio error and phase error, so as to realize the on-line calibration of the metering error of the current transformer.

[0033] Specifically, this embodiment provides a preferred implementation manner. The heterodyne current signal injection module includes a signal generator and an injection controller; the frequency of the heterodyne current signal is an integer multiple or a non-integer multiple of the power frequency, and the amplitude range is [0.1A, 5A], and the phase control accuracy is .

[0034] Specifically, this embodiment provides a preferred implementation manner. The data acquisition module includes a voltage sensor and a current sensor.

[0035] Specifically, this embodiment provides a preferred implementation manner. The on-line calibration module is connected to the electric energy metering device to output the corrected current value in real time.

[0036] Embodiment 3: As Figure 3 shown, this embodiment provides an electronic device, which may include: at least one processor, at least one network interface, a user interface, a memory, and at least one communication bus.

[0037] Among them, the communication bus can be used to realize the connection and communication of the above-mentioned various components.

[0038] Among them, the user interface may include buttons, and the optional user interface may further include a standard wired interface and a wireless interface.

[0039] Among them, the network interface may but is not limited to include a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0040] Among them, the processor may include one or more processing cores. The processor uses various interfaces and circuits to connect various parts within the entire electronic device. By running or executing instructions, programs, code sets, or instruction sets stored in the memory, and by invoking data stored in the memory, it executes various functions of the electronic device and processes data. Optionally, the processor may be implemented in at least one hardware form of DSP, FPGA, or PLA. The processor may integrate a combination of one or several of CPU, GPU, and modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor and can be implemented separately by a single chip.

[0041] Among them, the memory may include RAM and may also include ROM. Optionally, the memory includes a non-transitory computer-readable medium. The memory can be used to store instructions, programs, code, code sets, or instruction sets. The memory may include a program storage area and a data storage area. Among them, the program storage area can store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store the data involved in the above-mentioned various method embodiments. Optionally, the memory may also be at least one storage device located far from the aforementioned processor. The memory, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an online calibration application program. The processor can be used to call the online calibration application program stored in the memory and execute the steps of the online calibration method mentioned in the foregoing embodiments.

[0042] Embodiment 4: This embodiment provides a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When they run on a computer or a processor, they cause the computer or the processor to execute one or more steps of the foregoing Figure 1 illustrated embodiments. If the various component modules of the above-mentioned electronic device are implemented in the form of software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0043] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this specification are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., Digital Versatile Disc (DVD)), or a semiconductor medium (e.g., Solid State Disk (SSD)), etc.

[0044] Those of ordinary skill in the art can understand that all or part of the processes in implementing the method in the above Embodiment 1 can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above various methods. The foregoing storage media include: various media such as ROM, RAM, magnetic disk, or optical disc that can store program codes. Without conflict, the technical features in this embodiment and the implementation solutions can be combined arbitrarily.

[0045] Embodiment Five: To verify the effectiveness of the on-line calibration method and system for the metering error of a current transformer described in this specification, in this embodiment, based on the actual application scenario of the on-line calibration method and system, taking the low-voltage special transformer users in a certain industrial park as the object, the method and system described in this specification are applied to implement on-line calibration. This embodiment first performs application scenario configuration, including determining the user type, selecting system parameters, selecting the transformer capacity, and configuring the current transformer parameters. More specifically, the user is selected as the low-voltage special transformer metering cabinet of a manufacturing enterprise in the industrial park, the grid system voltage is 400V (three-phase four-wire system), the capacity of the transformer is 100kVA, the rated primary current of the current transformer is 200A, the secondary output is 5A, and the rated load impedance is 1Ω. Then, equipment installation is carried out. In the metering cabinet of the low-voltage special transformer user, a heterodyne signal injection device is connected to the secondary circuit of the current transformer, voltage and current sensors are installed to collect secondary circuit signals, and the data acquisition module is connected to the calculation module to complete system initialization. Next, the parameters of the heterodyne signal are set, the frequency is 100 Hz, and the current amplitude is 1 A. In addition, this embodiment also checks the output stability of the heterodyne signal injection module to ensure good connection with the circuit. Finally, the heterodyne signal generator is started to inject a current with a known amplitude into the secondary circuit of the current transformer, and the data acquisition stage, impedance calculation, power frequency error derivation, and calibration steps described in the above embodiments are executed, and all calibration data are recorded and stored to generate a detailed calibration report for users to view and archive. The implementation effect of this embodiment is remarkable. The low-voltage special transformer user can accurately calibrate the metering error of the current transformer during actual operation, ensure the accuracy of the electric energy metering system, and at the same time reduce the maintenance cost and power outage risk.

[0046] Based on the above, this embodiment verifies the effectiveness of the on-line calibration method and system for the metering error of a current transformer described in this specification.

[0047] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0048] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0049] The foregoing are only exemplary embodiments of the present invention, and thus cannot limit the scope of the present invention. That is, all equivalent changes and modifications made in accordance with the teachings of the present invention still fall within the scope covered by the present invention. Those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the disclosure herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include known common general knowledge or conventional technical means in the technical field not described in the present invention. The specification and examples are only regarded as exemplary, and the scope and spirit of the present invention are defined by the claims.

Claims

1. An online calibration method for current transformer measurement error, characterized in that: Includes steps: S1. Inject a preset frequency-different current signal into the secondary circuit of the current transformer. The frequency of the frequency-different current signal is an integer multiple or non-integer multiple of the power frequency, the amplitude range is [0.1A, 5A], and the phase control accuracy is ; S2. Real-time acquisition of the winding voltage, load voltage, excitation current and load current of the secondary side circuit of the current transformer, and calculation of the excitation impedance under the condition of different frequencies based on the winding voltage and the excitation current, and calculation of the load impedance under the condition of different frequencies based on the load voltage and the load current; S3. Based on the frequency characteristics of the excitation impedance and the load impedance, the excitation reactance under the heterofrequency condition is proportionally converted to the power frequency condition to obtain converted parameters, and the ratio difference and the angle difference of the current transformer are calculated based on the converted parameters; S4. Based on the ratio difference and the angle difference, the output current of the current transformer is corrected in real time, thereby realizing online calibration of the current transformer measurement error.

2. The online calibration method for current transformer measurement error according to claim 1, characterized in that: The frequency of the heterodyne current signal is set to 100 or 150 .

3. The online calibration method for current transformer measurement error according to claim 1 is characterized in that: The calculation formula of the excitation impedance under the different frequency conditions is: , where represents the excitation impedance under different frequency conditions, is the voltage of the winding with different frequency, is the excitation current, is the excitation resistance under different frequency conditions, is the excitation reactance under different frequency conditions, is a constant; The calculation formula of the load impedance under the different frequency conditions is: , where represents the load impedance under different frequency conditions, is the load voltage, is the load current.

4. The online calibration method for current transformer measurement error according to claim 1, characterized in that: The calculation formula of the ratio difference is: , where Indicates the difference. is the excitation impedance under different frequency conditions, is the load impedance under different frequency conditions; The calculation formula of the angle difference is: , where represents the angular difference, is the excitation reactance under power frequency conditions, is the excitation resistance under power frequency conditions, is the load resistance, is the load reactance; The excitation reactance under the power frequency condition The conversion formula is , where is the excitation reactance under different frequency conditions, is the power frequency, is the heterodyne frequency; The excitation resistance under the power frequency condition The conversion formula is , where is the excitation resistance under different frequency conditions.

5. An online calibration system for current transformer measurement error, based on an online calibration method for current transformer measurement error according to any one of claims 1 to 4, characterized in that: It includes a heterofrequency current signal injection module, a data acquisition module, a calculation module, an error derivation module, and an online calibration module; The heterofrequency current signal injection module is used to inject a preset heterofrequency current signal into the secondary side loop of the current transformer; The data acquisition module is used to collect the winding voltage, load voltage, excitation current and load current of the secondary side circuit of the current transformer in real time; The calculation module calculates the excitation impedance under the condition of different frequencies based on the winding voltage and the excitation current, and also calculates the load impedance under the condition of different frequencies based on the load voltage and the load current; The error derivation module converts the excitation reactance under the different frequency condition to the power frequency condition in proportion to obtain converted parameters based on the frequency characteristics of the excitation impedance and the load impedance, and calculates the ratio error and the angle error of the current transformer based on the converted parameters; The online calibration module corrects the output current of the current transformer in real time based on the ratio difference and the angle difference, thereby realizing online calibration of the current transformer measurement error.

6. The online calibration system for current transformer measurement error according to claim 5, characterized in that: The heterofrequency current signal injection module includes a signal generator and an injection controller; The frequency of the different-frequency current signal is an integer multiple or non-integer multiple of the power frequency, the amplitude range is [0.1A, 5A], and the phase control accuracy is .

7. The online calibration system for current transformer measurement error according to claim 5, characterized in that: The data acquisition module includes a voltage sensor and a current sensor.

8. The online calibration system for current transformer measurement error according to claim 5, characterized in that: The online calibration module is connected to the electric energy metering device to output the corrected current value in real time.

9. A computer device, comprising a memory, a processor and a computer program, characterized in that: When the computer program is executed by a processor, the online calibration method according to any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the online calibration method according to any one of claims 1 to 4 is implemented.

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