establishing an objective function and constraints for estimating system parameters of the heating system, in which the heating system comprises nodes, pipelines and equivalent branches, the equivalent branch is configured to represent a heating resource or a heating load in the heating system, the system parameters comprise a resistance coefficient of each of the pipelines and equivalent branches, and a heat dissipation coefficient of each of the pipelines;

solving the objective function based on the constraints to obtain the system parameters;

modeling the heating system based on the obtained system parameters to obtain control parameters of the heating system; and

controlling the heating system based on the control parameters;

wherein establishing the objective function by a formula of:

where,

J(x_h(t)) represents the objective function at moment t,

x_h(t) represents a column vector of state variables in the heating system and the system parameters at moment t, wherein h represents the state variables and the system parameters,

z_h(t) represents a column vector of observed values of the state variables and the system parameters at moment t,

ƒ(x_h(t)) represents a column vector of estimated values of the state variables and the system parameters at moment t,

D represents a time window,

I represents a size of the time window,

T represents a matrix transposition operation, and

W represents a covariance matrix of the observed values,

where ƒ(x_h(t)) is denoted by a formula of:

where,

A^T represents a transposition of a node-branch association matrix A,

H(t) represents a column vector formed by a pressure of each node at moment t,

ΔH(t) represents a column vector formed by a pressure loss of each of the pipelines and equivalent branches at moment t, in which ΔH(t)=K·m(t)·|m(t)|, K represents a column vector formed by the resistance coefficient of each of the pipelines and equivalent branches, m(t) represents a column vector formed by a flow of each of the pipelines and equivalent branches at moment t, |m(t)| represents a column vector formed by an absolute value of the flow of each of the pipelines and equivalent branches at moment t,

H_p(t) represents a column vector formed by a pump head of each of the pipelines and equivalent branches at moment t, in which H_p(t)=a(m_p(t))²+bm_p(t)+c, a, b, and c are pump parameters, m_p(t) represents a flow of the branch where the pump is located, wherein p represents the branch where the pump is located,

ϕ^q(t) represents a thermal power of each equivalent branch at moment t, in which the superscript q represents the equivalent branch, the thermal power of the heating source is positive, and the thermal power of the heating load is positive,

C_p represents a specific heat capacity of a heating medium flowing in the heating system,

m^q(t) represents a flow of each equivalent branch at moment t,

T_ƒ^q(t) represents a head end temperature of each equivalent branch at moment t, and

T_t^q(t) represents a tail end temperature of each equivalent branch at moment t;

wherein the control parameters of the heating system comprise a flow of each of the pipelines and equivalent branches at a control moment, a thermal power of each of the pipelines and equivalent branches at a control moment, and temperature of each of the pipelines and equivalent branches at a control moment.