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

Abstract

The present invention belongs to the field of power system measurement and calibration technology, and discloses an online calibration method, system, equipment, and medium for current transformer metering errors to solve the metering error problem of current transformers under dynamic working conditions. The method of the present invention includes: injecting a preset heterodyne current signal into the secondary side circuit of the current transformer; collecting the winding voltage, load voltage, excitation current, and load current of the secondary side circuit of the current transformer in real time, and calculating the excitation impedance under heterodyne conditions based on the winding voltage and excitation current, and calculating the load impedance under heterodyne conditions based on the load voltage and load current; based on the frequency characteristics of the excitation impedance and load impedance, proportionally converting the excitation reactance under heterodyne conditions to power frequency conditions to obtain converted parameters, and calculating the ratio difference and angular difference of the current transformer based on the converted parameters; and correcting the output current of the current transformer in real time based on the ratio difference and angular difference, thereby achieving online calibration of the current transformer metering error.

Description

Technical Field

[0001] The present invention belongs to the technical field of power system measurement and calibration, and in particular relates to an online calibration method, system, equipment and medium for current transformer measurement error. Background Art

[0002] Current transformers (CTs) are key devices for current measurement in power systems. Their core function is to proportionally convert high voltage or high current into a standard secondary current (such as 5A or 1A), providing accurate data for energy metering, relay protection, and equipment monitoring. However, over long-term operation, CTs may experience drift due to a variety of factors. For example, core characteristics can change due to aging, hysteresis, and saturation, which can alter the magnetic properties of the core material and affect the accuracy of the excitation impedance. Furthermore, dynamic changes in the secondary load impedance can cause the CT output to deviate from the standard value. Furthermore, changes in environmental factors (such as temperature and humidity) can also affect the measurement accuracy of the CT.

[0003] Calibration of current transformer metrological errors is crucial for ensuring the safe and economical operation of power systems. Currently, traditional calibration methods primarily utilize an offline approach, requiring the current transformer to be removed from the operating line or connected to a standard calibrator (such as a transformer calibrator) for testing after a power outage. However, this approach has significant limitations: First, it is complex and uneconomical to operate. Power outages or equipment removal not only increase operational costs but may also affect power supply continuity, making it particularly unsuitable for scenarios requiring high reliability. Second, this method only reflects fixed operating condition errors at the time of calibration and cannot track error drift caused by dynamic load changes, temperature fluctuations, and other factors in real time. Third, this method has weak anti-interference capabilities, and the calibration signal (typically a 50Hz power frequency) is susceptible to interference from electromagnetic noise in the main circuit, resulting in reduced measurement accuracy and impacting the reliability of the calibration results. Summary of the Invention

[0004] Based on the above-mentioned shortcomings and deficiencies in the prior art, one of the objects of the present invention is to solve at least one or more of the above-mentioned problems in the prior art. In other words, one of the objects of the present invention is to provide an online calibration method, system, equipment and medium for current transformer measurement error that meets one or more of the above-mentioned requirements, aiming to solve the measurement error problem of current transformer under dynamic working conditions, so as to realize online and accurate error calibration.

[0005] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides an online calibration method for a current transformer measurement error, comprising the steps of: S1, injecting a preset heterodyne current signal into the secondary side circuit of the current transformer, wherein the frequency of the heterodyne 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 collection 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 heterofrequency condition based on the winding voltage and the excitation current, and calculation of the load impedance under the heterofrequency condition 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 the converted parameters, and the ratio difference and 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.

[0007] As a preferred solution, the frequency of the different-frequency current signal is set to 100 or 150 .

[0008] As a preferred solution, 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;

[0009] The calculation formula of the load impedance under the different frequency conditions is: , where It represents the load impedance under different frequency conditions, is the load voltage, is the load current.

[0010] As a preferred solution, 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 conditions The conversion formula is , where is the excitation reactance under different frequency conditions, is the power frequency, is the frequency of the frequency difference; the excitation resistance under the working frequency condition is The conversion formula is , where is the excitation resistance under different frequency conditions.

[0011] In a second aspect, the present invention provides an online calibration system for current transformer metering errors, based on the online calibration method for current transformer metering errors described in the first aspect, comprising an heterodyne current signal injection module, a data acquisition module, a calculation module, an error derivation module, and an online calibration module; the heterodyne current signal injection module is used to inject a preset heterodyne current signal into the secondary circuit 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 circuit of the current transformer in real time; the calculation module calculates the excitation impedance under heterodyne conditions based on the winding voltage and the excitation 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 excitation reactance under heterodyne conditions proportionally to the power frequency conditions based on the frequency characteristics of the excitation impedance and the load impedance to obtain converted parameters, and calculates the ratio difference and angular difference 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 angular difference, thereby achieving online calibration of the current transformer metering error.

[0012] As a preferred solution, 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 non-integer multiple of the power frequency, the amplitude range is [0.1A, 5A], and the phase control accuracy is .

[0013] As a preferred solution, the data acquisition module includes a voltage sensor and a current sensor.

[0014] As a preferred solution, the online calibration module is connected to an electric energy metering device to output the corrected current value in real time.

[0015] In a third aspect, the present invention provides an electronic device, wherein the computer device includes a memory, a processor, and a computer program, and when the computer program is executed by the processor, the online calibration method as described in the first aspect is implemented.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the online calibration method as described in the first aspect.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. By injecting a current signal of different frequencies into the secondary circuit of the current transformer, direct calibration can be achieved during operation without power outage or equipment disassembly. This solves the power outage problem caused by traditional offline calibration and significantly reduces operation and maintenance costs.

[0019] 2. By using different frequency signals to avoid power frequency interference and combining it with the precise calculation of excitation impedance and load impedance, the error assessment accuracy is improved.

[0020] Further or more detailed beneficial effects will be described in conjunction with specific examples in the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 4 is a flow chart of the online calibration method according to an embodiment of the present invention.

[0023] Figure 2 It is a structural diagram of the online calibration method system described in an embodiment of the present invention.

[0024] Figure 3 4 is a structural diagram of an electronic device according to an embodiment of the present invention.

[0025] Figure Number:

[0026] 300. Electronic equipment;

[0027] 301. Processor; 302. Communication bus; 303. User interface; 304. Network interface; 305. Memory. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0029] In the following description, multiple embodiments of the present invention are provided. Different embodiments may be replaced or combined, and therefore the present invention may 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 include one or more of all other possible combinations of A, B, C, and D, even if such embodiments may not be explicitly described in the following text.

[0030] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present invention. Various examples may appropriately omit, replace, or add various processes or components. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted, or combined. Furthermore, features described in some examples may be combined in other examples.

[0031] In order to facilitate a better understanding of the embodiments of the present invention, before explaining the specific implementation methods of the present invention in detail, its application scenarios are first described.

[0032] The online calibration method described in the embodiments of this specification is applied to electric energy metering scenarios in industrial parks, large commercial facilities and critical load users. In these scenarios, the application of the online calibration method is intended to enable the current transformer to achieve high-precision, uninterrupted error calibration under actual operating conditions, thereby significantly improving the accuracy and reliability of the electric energy metering system, while effectively reducing operation and maintenance costs and production losses.

[0033] Example 1:

[0034] like Figure 1 As shown, this embodiment provides an online calibration method for current transformer measurement error, comprising the steps of: S1, injecting a preset heterodyne current signal into the secondary side circuit of the current transformer, wherein the frequency of the heterodyne 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 heterofrequency condition based on the winding voltage and the excitation current, and calculation of the load impedance under the heterofrequency condition 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 the converted parameters, and the ratio difference and 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, and the correction formula is: , where Indicates the output current of the current transformer after correction, Indicates the output current of the current transformer before correction, It represents the ratio difference, thus realizing the online calibration of the current transformer measurement error.

[0035] Specifically, this embodiment provides a preferred implementation method, the frequency of the different-frequency current signal is set to 100 or 150 .

[0036] Specifically, this embodiment provides a preferred implementation method, 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;

[0037] The calculation formula of the load impedance under the different frequency conditions is: , where It represents the load impedance under different frequency conditions, is the load voltage, is the load current.

[0038] Specifically, this embodiment provides a preferred implementation method, 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 conditions The conversion formula is , where is the excitation reactance under different frequency conditions, is the power frequency, is the frequency of the frequency difference; the excitation resistance under the working frequency condition is The conversion formula is , where is the excitation resistance under different frequency conditions.

[0039] Example 2:

[0040] like Figure 2 As shown, this embodiment provides an online calibration system for current transformer metering errors. The system is based on the online calibration method for current transformer metering errors described in the first aspect and includes an inter-frequency current signal injection module, a data acquisition module, a calculation module, an error derivation module, and an online calibration module. The inter-frequency current signal injection module is configured to inject a preset inter-frequency current signal into the secondary circuit of the current transformer. The data acquisition module is configured to collect the winding voltage, load voltage, excitation current, and load current of the secondary circuit of the current transformer in real time. The calculation module calculates the excitation impedance under inter-frequency conditions based on the winding voltage and the excitation current, and also calculates the load impedance under inter-frequency conditions based on the load voltage and the load current. The error derivation module converts the excitation reactance under inter-frequency conditions proportionally to the power frequency conditions based on the frequency characteristics of the excitation impedance and the load impedance to obtain converted parameters, and calculates the ratio error and angular 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 error and angular error, thereby achieving online calibration of the current transformer metering error.

[0041] Specifically, this embodiment provides a preferred implementation method, wherein 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 non-integer multiple of the power frequency, the amplitude range is [0.1A, 5A], and the phase control accuracy is .

[0042] Specifically, this embodiment provides a preferred implementation method, wherein the data acquisition module includes a voltage sensor and a current sensor.

[0043] Specifically, this embodiment provides a preferred implementation method, in which the online calibration module is connected to the electric energy metering device to output the corrected current value in real time.

[0044] Example 3:

[0045] like Figure 3 As 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.

[0046] The communication bus can be used to realize the connection and communication among the above components.

[0047] The user interface may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0048] The network interface may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, and the like.

[0049] Among them, the processor may include one or more processing cores. The processor uses various interfaces and lines to connect the various parts of the entire electronic device, and performs various functions of the electronic device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Optionally, the processor can be implemented in at least one hardware form of DSP, FPGA, PLA. The processor can integrate one or a combination of CPU, GPU and modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to handle wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor, but may be implemented separately through a chip.

[0050] The memory may include RAM or ROM. Optionally, the memory includes non-transitory computer-readable media. The memory can be used to store instructions, programs, codes, code sets, or instruction sets. The memory may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area may store data related to the above-mentioned method embodiments, etc. The memory may optionally be at least one storage device located remotely 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. The processor may be configured to call the online calibration application stored in the memory and execute the steps of the online calibration method mentioned in the above-mentioned embodiments.

[0051] Example 4:

[0052] This embodiment provides a computer-readable storage medium having instructions stored therein, which, when executed on a computer or processor, causes the computer or processor to execute the above-mentioned Figure 1 If the components of the 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.

[0053] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via 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 via wired (e.g., coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state drive (SSD)).

[0054] Those skilled in the art will appreciate that all or part of the process steps in the method of the first embodiment described above can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When executed, the program can include the processes of the embodiments of the above methods. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. The technical features of this embodiment and the implementation scheme can be combined in any manner unless they conflict.

[0055] Embodiment 5:

[0056] To verify the effectiveness of the online calibration method and system for current transformer metering errors described in this specification, this embodiment, based on the actual application scenario of the online calibration method and system, applies the method and system described herein to a low-voltage dedicated transformer user in an industrial park. This embodiment first configures the application scenario, including determining the user type, selecting system parameters, selecting transformer capacity, and configuring current transformer parameters. Specifically, the user selects a low-voltage dedicated transformer meter cabinet at a manufacturing enterprise within the industrial park. The power grid voltage is 400V (three-phase, four-wire), the transformer capacity is 100kVA, the current transformer has a rated primary current of 200A, a secondary output of 5A, and a rated load impedance of 1Ω. The equipment is then installed. In the meter cabinet of the low-voltage dedicated transformer user, an inter-frequency signal injection device is connected to the secondary circuit of the current transformer. Voltage and current sensors are installed to collect secondary circuit signals. The data acquisition module is connected to the calculation module, completing system initialization. The inter-frequency signal parameters are then set to 100 Hz and a current amplitude of 1 A. In addition, this embodiment also verifies the output stability of the heterodyne signal injection module to ensure that it is well connected to the loop. Finally, the heterodyne signal generator is started to inject a current of known amplitude into the secondary circuit of the current transformer, and the data acquisition phase and impedance calculation, power frequency error derivation and calibration steps recorded in the above embodiment are executed, and all calibration data are recorded and stored, and a detailed calibration report is generated for users to review and archive. The implementation effect of this embodiment is significant. Low-voltage dedicated transformer users can accurately calibrate the metering error of the current transformer in actual operation, ensure the accuracy of the electric energy metering system, and reduce maintenance costs and power outage risks.

[0057] Based on the above, this embodiment verifies the effectiveness of the online calibration method and system for current transformer measurement error in this specification.

[0058] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0059] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0060] The foregoing is merely an exemplary embodiment of the present invention and is not intended to limit the scope of the present invention. That is, any equivalent changes and modifications made in accordance with the teachings of the present invention are still within the scope of the present invention. A person skilled in the art will readily come up with the 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 common knowledge or customary technical means in the art that are not described in the present invention. The description and examples are to be regarded as exemplary only, 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: Including steps: S1. Inject a preset frequency-dependent current signal into the secondary circuit of the current transformer. The frequency of the frequency-dependent 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 different frequency conditions based on the winding voltage and the excitation current, and calculation of the load impedance under different frequency conditions based on the load voltage and the load current; S3. Based on the frequency characteristics of the excitation impedance and the load impedance, convert the excitation reactance under the different frequency conditions to the power frequency conditions in proportion to obtain converted parameters, and calculate the ratio difference and the angle difference of the current transformer based on the converted parameters; 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 angular 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; S4. Correct the output current of the current transformer in real time based on the ratio difference and the angle difference, thereby achieving 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 different-frequency current signal is set to 100 or 150 .

3. The online calibration method for current transformer measurement error according to claim 1, 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 It represents the load impedance under different frequency conditions, is the load voltage, is the load current.

4. An online calibration system for current transformer measurement error, based on the online calibration method for current transformer measurement error according to any one of claims 1 to 3, characterized in that: It includes heterofrequency current signal injection module, data acquisition module, calculation module, error derivation module and online 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, 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 different frequency conditions based on the winding voltage and the excitation current, and also calculates the load impedance under the different frequency conditions 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 based on the frequency characteristics of the excitation impedance and the load impedance to obtain converted parameters, and calculates the ratio error and the angle error of the current transformer based on the converted parameters; 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 angular 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; 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.

5. The online calibration system for current transformer measurement error according to claim 4, 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 .

6. The online calibration system for current transformer measurement error according to claim 4, characterized in that: The data acquisition module includes a voltage sensor and a current sensor.

7. The online calibration system for current transformer measurement error according to claim 4, characterized in that: The online calibration module is connected to the electric energy metering device to output the corrected current value in real time.

8. A computer device comprising a memory, a processor, and a computer program, wherein: When the computer program is executed by a processor, the online calibration method according to any one of claims 1 to 3 is implemented.

9. 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 3 is implemented.

Images