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alt=\"\"\/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u6bd4\u8f83\uff0c\u91c7\u7528\u7684\u8f66\u8f7d\u4f20\u611f\u5668\u5e03\u7f6e\u65b9\u6848\u4e3a5R1L1V\uff0c\u53735\u4e2a\u6beb\u7c73\u6ce2\u96f7\u8fbe\u30011\u4e2a\u6fc0\u5149\u96f7\u8fbe\u548c1\u4e2a\u524d\u5411\u6444\u50cf\u5934\uff0c\u524d\u5411\u5b89\u88c51\u4e2a\u957f\u8ddd\u79bb\u6beb\u7c73\u6ce2\u96f7\u8fbe\u30011\u4e2a\u56fa\u6001\u6fc0\u5149\u96f7\u8fbe\u548c1\u4e2a\u5355\u76ee\u6444\u50cf\u5934\uff0c4\u4e2a\u89d2\u4e0a\u5404\u5b89\u88c51\u4e2a\u4e2d\u8ddd\u79bb\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u53ef\u540c\u65f6\u5b8c\u6210\u524d\u5411\u8f66\u9053\u7ebf\u548c\u672c\u8f66\u5468\u5411\u76ee\u6807\u7684\u63a2\u6d4b\u3002\u8f66\u8f7d\u4f20\u611f\u5668\u7684\u5177\u4f53\u5e03\u7f6e\u65b9\u6848\u5982\u56fe 1\u6240\u793a\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" width=\"200\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/3e1460a0e6dde094ed75f8068f6a1b68~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=2oJVwk79KA%2FGL9SdkybiRXQMQQI%3D\"><\/p>\n\n\n\n<p>\u56fe 1 \u8f66\u8f7d\u4f20\u611f\u5668\u5e03\u7f6e\u65b9\u6848<\/p>\n\n\n\n<p><strong>2 \u591a\u6a21\u6001\u6570\u636e\u878d\u5408\u4e0e\u5904\u7406 <\/strong><\/p>\n\n\n\n<p><strong>2.1 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2\u6240\u793a\u3002\u524d\u878d\u5408\u65b9\u6cd5\u80fd\u591f\u5728\u6570\u636e\u5904\u7406\u7684\u65e9\u671f\u9636\u6bb5\u878d\u5408\u4e0d\u540c\u4f20\u611f\u5668\u7684\u4fe1\u606f\uff0c\u4ee5\u6700\u5927\u9650\u5ea6\u5730\u4fdd\u6301\u6570\u636e\u7684\u4e00\u81f4\u6027\u548c\u76f8\u5173\u6027\uff0c\u63d0\u9ad8\u7cfb\u7edf\u5bf9\u73af\u5883\u7684\u7406\u89e3\u80fd\u529b\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" width=\"200\" src=\"https:\/\/p26-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/1c6951828316bf293b496bad08f978bc~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=dznVGPfU0v9eyb%2FZUDdPbNlkYtE%3D\"><\/p>\n\n\n\n<p>\u56fe 2 \u524d\u878d\u5408\u6d41\u7a0b<\/p>\n\n\n\n<p>\u591a\u4f20\u611f\u5668\u878d\u5408\u53ef\u4ee5\u589e\u5f3a\u7cfb\u7edf\u7684\u5197\u4f59\u6027\u548c\u5bb9\u9519\u80fd\u529b\uff0c\u4ece\u800c\u4fdd\u8bc1\u51b3\u7b56\u7684\u901f\u5ea6\u548c\u51c6\u786e\u6027\uff0c\u8fd9\u662f\u81ea\u52a8\u9a7e\u9a76\u7684\u5173\u952e\u8981\u7d20<sup>[10]<\/sup>\u3002\u5176\u57fa\u672c\u539f\u7406\u5728\u4e8e\u4f18\u5316\u591a\u4e2a\u4f20\u611f\u5668\u8d44\u6e90\uff0c\u5e76\u6839\u636e\u6307\u5b9a\u6807\u51c6\u5728\u7a7a\u95f4\u6216\u65f6\u95f4\u4e0a\u96c6\u6210\u5176\u5197\u4f59\u6216\u4e92\u8865\u4fe1\u606f\u3002\u901a\u8fc7\u8fd9\u79cd\u4f20\u611f\u5668\u8d44\u6e90\u548c\u89c2\u6d4b\u4fe1\u606f\u7684\u7cfb\u7edf\u7f16\u6392\uff0c\u53ef\u4ee5\u5bf9\u6d4b\u8bd5\u5bf9\u8c61\u8fdb\u884c\u8fde\u8d2f\u89e3\u91ca\u6216\u63cf\u8ff0\uff0c\u4ece\u800c\u63d0\u9ad8\u7cfb\u7edf\u51b3\u7b56\u7684\u7cbe\u5ea6<sup>[11-12]<\/sup>\u3002<\/p>\n\n\n\n<p><strong>2.2 \u591a\u6e90\u4f20\u611f\u5668\u6570\u636e\u540c\u6b65\u4e0e\u6821\u51c6<\/strong><\/p>\n\n\n\n<p>\u591a\u6e90\u4f20\u611f\u76ee\u6807\u4fe1\u606f\u878d\u5408\u524d\uff0c\u5fc5\u987b\u786e\u4fdd\u4f20\u611f\u5668\u5728\u65f6\u95f4\u548c\u7a7a\u95f4\u4e0a\u540c\u6b65<sup>[13]<\/sup>\u3002\u65f6\u7a7a\u540c\u6b65\u662f\u6307\u5c06\u4e0d\u540c\u4f20\u611f\u5668\u5bf9\u540c\u4e00\u76ee\u6807\u7684\u5f02\u6b65\u6d4b\u91cf\u7ed3\u679c\u7edf\u4e00\u5230\u76f8\u540c\u7684\u65f6\u95f4\u548c\u7a7a\u95f4\u4e0a\uff0c\u4ee5\u4fbf\u4e8e\u878d\u5408\u3002\u901a\u5e38\u7684\u505a\u6cd5\u662f\u9009\u62e9\u4e00\u4e2a\u57fa\u51c6\u4f20\u611f\u5668\u4f5c\u4e3a\u65f6\u95f4\u6807\u51c6\uff0c\u7136\u540e\u5c06\u5176\u4ed6\u4f20\u611f\u5668\u7684\u6d4b\u91cf\u7ed3\u679c\u63a8\u7b97\u5230\u8be5\u57fa\u51c6\u65f6\u95f4\u3002\u5e38\u89c1\u7684\u65b9\u6cd5\u5305\u62ec\u5185\u63d2\u548c\u5916\u63a8\uff0c\u4ee5\u5b9e\u73b0\u4e0d\u540c\u4f20\u611f\u5668\u5728\u65f6\u95f4\u57df\u4e0a\u7684\u540c\u6b65\u3002\u7a7a\u95f4\u540c\u6b65\u5219\u662f\u5c06\u5404\u4f20\u611f\u5668\u5750\u6807\u7cfb\u4e0b\u7684\u63a2\u6d4b\u76ee\u6807\u7ed3\u679c\u7edf\u4e00\u5230\u4e00\u4e2a\u57fa\u51c6\u5750\u6807\u7cfb\u4e0b\u3002\u5728\u73af\u89c6\u573a\u666f\u62fc\u63a5\u65f6\uff0c\u4e0d\u540c\u4f20\u611f\u5668\u5bf9\u6d4b\u91cf\u4fe1\u606f\u7684\u5904\u7406\u5468\u671f\u53ef\u80fd\u4e0d\u540c\uff0c\u56e0\u6b64\u9700\u8981\u5bf9\u9f50\u65f6\u95f4\u7ebf\uff0c\u786e\u4fdd\u5728\u540c\u4e00\u65f6\u523b\u5904\u7406\u6765\u81ea\u5404\u4f20\u611f\u5668\u7684\u63a2\u6d4b\u7ed3\u679c\u3002\u672c\u6587\u4f7f\u75285R1L1V\u7684\u591a\u6e90\u4f20\u611f\u5668\u4fe1\u606f\u878d\u5408\uff0c\u4f20\u611f\u5668\u91c7\u7528LAN\u901a\u4fe1\u65b9\u5f0f\uff0c\u540c\u65f6\u6570\u636e\u76d1\u89c6\u7cfb\u7edf\u4f1a\u4e3a\u6bcf\u4e00\u4e2a\u6570\u636e\u5e27\u6807\u8bb0\u65f6\u95f4\u6233\u3002\u9009\u5b9a\u57fa\u51c6\u4f20\u611f\u5668\u540e\uff0c\u5229\u7528\u8fd9\u4e9b\u65f6\u95f4\u6233\u901a\u8fc7\u63d2\u503c\u8fdb\u884c\u65f6\u95f4\u540c\u6b65\uff0c\u5982\u56fe 3\u6240\u793a\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" width=\"200\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/4867b17cbe40852c6a1c591622207f6f~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=uVhTzZuNlmnWRRHfuVu1AWohbao%3D\"><\/p>\n\n\n\n<p>\u56fe 3 3\u79cd\u4f20\u611f\u5668\u7684\u65f6\u95f4\u540c\u6b65\u4f20\u611f\u5668\u6807\u5b9a\u662f\u786e\u4fdd\u6fc0\u5149\u96f7\u8fbe\u3001\u76f8\u673a\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4e4b\u95f4\u7684\u6570\u636e\u53ef\u4ee5\u51c6\u786e\u5bf9\u9f50\u548c\u878d\u5408\u7684\u5173\u952e<sup>[14]<\/sup>\u3002\u591a\u4f20\u611f\u5668\u6807\u5b9a\u901a\u5e38\u6d89\u53ca\u5bf9\u4f20\u611f\u5668\u7684\u5185\u90e8\u53c2\u6570(\u5982\u7126\u8ddd\u3001\u7578\u53d8\u7b49)\u548c\u5916\u90e8\u53c2\u6570(\u5982\u4f4d\u7f6e\u3001\u59ff\u6001\u7b49)\u7684\u4f30\u8ba1\u548c\u6821\u51c6\u3002\u672c\u6587\u5e73\u53f0\u6240\u642d\u5efa\u7684\u4f20\u611f\u5668\u5750\u6807\u7cfb\u5982\u56fe 4\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/9b931ceb9a242783fd0e8e90a3860fb0~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=vq5R%2Bs8CM%2FglWFUUSnAMpswBxwQ%3D\" alt=\"\" title=\"\u70b9\u51fb\u67e5\u770b\u539f\u56fe\"\/><\/figure>\n\n\n\n<p>\u56fe 4 \u8f66\u8f7d\u4f20\u611f\u5668\u5750\u6807\u7cfb<\/p>\n\n\n\n<p>\u9996\u5148\u901a\u8fc7\u76f8\u673a\u5185\u53c2\u6807\u5b9a\u4e0e\u7578\u53d8\u53c2\u6570\u8ba1\u7b97\uff0c\u5b9e\u73b0\u76f8\u673a\u7684\u7578\u53d8\u6d88\u9664<sup>[15]<\/sup>\uff0c\u6548\u679c\u5982\u56fe 5\u6240\u793a\uff1b\u7136\u540e\u8ba1\u7b97\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u4e4b\u95f4\u7684\u8f6c\u6362\u77e9\u9635\uff0c\u5b9e\u73b0\u70b9\u4e91\u91cd\u6295\u5f71\uff0c\u6548\u679c\u5982\u56fe 6\u6240\u793a\u3002\u7531\u4e8e\u6beb\u7c73\u6ce2\u70b9\u4e91\u7684\u7a00\u758f\u6027\uff0c\u4f7f\u7528\u91d1\u5c5e\u89d2\u53cd\u5c04\u5668\u6355\u83b7\u9ad8\u53cd\u5c04\u70b9\uff0c\u5b9e\u73b0\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4e0e\u76f8\u673a\u4e4b\u95f4\u7684\u6807\u5b9a\uff0c\u91cd\u6295\u5f71\u6548\u679c\u5982\u56fe 7\u6240\u793a\u3002<\/p>\n\n\n\n<p class=\"has-large-font-size\"><img decoding=\"async\" width=\"200\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/0206defd752bb331a7b816713a3fe3b5~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=DxRPFeoEVH1eCxAbwMa%2BEMWM6d0%3D\"><\/p>\n\n\n\n<p>\u56fe 5 \u76f8\u673a\u5185\u53c2\u6807\u5b9a\u4e0e\u7578\u53d8\u6d88\u9664<\/p>\n\n\n\n<p><img decoding=\"async\" width=\"200\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/a99028a9494f77e7a7b8823936cd0192~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=x9ofqfB9%2B4SXTHQ6zo7jqQt10Z8%3D\"><\/p>\n\n\n\n<p>\u56fe 6 \u76f8\u673a\u4e0e\u6fc0\u5149\u96f7\u8fbe\u6807\u5b9a\u6548\u679c<\/p>\n\n\n\n<p><img decoding=\"async\" width=\"200\" src=\"https:\/\/p26-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/8fe8990b90fb08af49e6e12c13899333~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=wDavskqJxaTf3%2FpFE7DJRTE%2Ff5I%3D\"><\/p>\n\n\n\n<p>\u56fe 7 \u76f8\u673a\u4e0e\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6807\u5b9a\u6548\u679c<\/p>\n\n\n\n<p><strong>3 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\u6570\u636e\u9884\u5904\u7406<\/strong><\/p>\n\n\n\n<p>\u9640\u87ba\u4eea\u957f\u65f6\u95f4\u8fd0\u884c\u4f1a\u5f15\u8d77\u89d2\u901f\u5ea6\u6d4b\u91cf\u7684\u8bef\u5dee\u79ef\u7d2f\uff0c\u4e3a\u4e86\u63d0\u9ad8IMU\u6570\u636e\u7684\u51c6\u786e\u6027\uff0c\u8bd5\u9a8c\u8fdb\u884c\u4e86\u9640\u87ba\u4eea\u6f02\u79fb\u6821\u6b63\u3002\u9996\u5148\uff0c\u5c06IMU\u4f20\u611f\u5668\u56fa\u5b9a\u5e76\u4fdd\u6301\u9759\u6b62\u72b6\u6001\uff0c\u8fdb\u884c\u9759\u6b62IMU\u6570\u636e\u7684\u91c7\u96c6\uff0c\u7406\u60f3\u72b6\u6001\u4e0b\u7684\u9640\u87ba\u4eea\u8f93\u51fa\u63a5\u8fd1\u96f6\uff1b\u7136\u540e\uff0c\u5bf9\u9759\u6b62\u6570\u636e\u8fdb\u884c\u79ef\u5206\u8ba1\u7b97\u9640\u87ba\u4eea\u7684\u6f02\u79fb\u4f30\u8ba1\uff0c\u4ece\u800c\u53cd\u6620\u9640\u87ba\u4eea\u8f93\u51fa\u6570\u636e\u4e2d\u7684\u6f02\u79fb\u8bef\u5dee\uff1b\u6700\u540e\uff0c\u5728\u9640\u87ba\u4eea\u6570\u636e\u8f93\u51fa\u90e8\u5206\u8fdb\u884c\u6f02\u79fb\u7ea0\u6b63\uff0c\u77eb\u6b63\u89d2\u901f\u5ea6\u6d4b\u91cf\uff0c\u4ece\u800c\u63d0\u9ad8\u540e\u7eed\u8bd5\u9a8c\u4e2d\u8f66\u8f86\u59ff\u6001\u4f30\u8ba1\u7684\u51c6\u786e\u6027\u3002\u4e3a\u83b7\u5f97\u66f4\u53ef\u9760\u7684\u59ff\u6001\u548c\u8fd0\u52a8\u4fe1\u606f\uff0c\u8bd5\u9a8c\u4e2d\u4f7f\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b97\u6cd5\u51cf\u5c0fIMU\u6570\u636e\u4e2d\u7684\u566a\u58f0\u548c\u9707\u52a8\u3002\u901a\u8fc7\u5bf9\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u4e2d\u65f6\u95f4\u5e38\u6570\u548c\u6d4b\u91cf\u566a\u58f0\u8bef\u5dee\u7684\u53c2\u6570\u4f18\u5316\uff0c\u51cf\u5c0f\u8bef\u5dee\u5e76\u4fdd\u6301\u6570\u636e\u7684\u5e73\u6ed1\u6027\u3002\u5c06IMU\u4f20\u611f\u5668\u7684\u52a0\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\u8f93\u5165\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff0c\u83b7\u5f97\u6ee4\u6ce2\u540e\u7684\u8f93\u51fa\u6570\u636e\uff0c\u5b9e\u73b0\u540e\u7eed\u6570\u636e\u878d\u5408\u548c\u5206\u6790\u3002\u4ee5\u4e0a\u5de5\u4f5c\u90fd\u5c01\u88c5\u4e8e\u8d1f\u8d23\u5904\u7406IMU\u6570\u636e\u7684ROS\u8282\u70b9\uff0c\u5177\u4f53\u6d41\u7a0b\u5982\u56fe 9\u6240\u793a\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" width=\"200\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/7e6e03ec8e66e561e7cc865a28b4350f~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=lmlYINcmjHnO3Rc%2BUYtoV8oFJy0%3D\"><\/p>\n\n\n\n<p>\u56fe 9 IMU\u6570\u636e\u9884\u5904\u7406\u6d41\u7a0b\u91c7\u7528\u7edf\u8ba1\u6ee4\u6ce2\u3001\u9ad8\u65af\u6ee4\u6ce2\u548c\u4f53\u7d20\u6ee4\u6ce2\u7b49\u7b97\u6cd5\u5bf9\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u5f97\u5230\u7684\u70b9\u4e91\u8fdb\u884c\u5904\u7406\u3002\u901a\u8fc7\u53bb\u9664\u79bb\u7fa4\u70b9\u548c\u566a\u58f0\uff0c\u6ee4\u6ce2\u7b97\u6cd5\u6709\u6548\u63d0\u9ad8\u4e86\u540e\u7eed\u6570\u636e\u5904\u7406\u7684\u7cbe\u786e\u6027\u3002\u56fe 10\u5c55\u793a\u4e86\u4ece\u539f\u59cb\u70b9\u4e91\u5230\u7ecf\u8fc7\u7edf\u8ba1\u6ee4\u6ce2\u3001\u9ad8\u65af\u6ee4\u6ce2\u53ca\u4f53\u7d20\u6ee4\u6ce2\u7684\u5904\u7406\u7ed3\u679c\uff0c\u7a81\u663e\u4e86\u4e0d\u540c\u6ee4\u6ce2\u7b97\u6cd5\u5bf9\u70b9\u4e91\u6570\u636e\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" width=\"200\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/15624314191c28d5c8679ab318f9ed01~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=kOyhKHnao3WUzuTjF%2BCcwFQ%2Fpp0%3D\"><\/p>\n\n\n\n<p>\u56fe 10 \u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6ee4\u6ce2\u7ed3\u679c\u6bd4\u8f83<\/p>\n\n\n\n<p><strong>3.3 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2\u7684\u5747\u65b9\u6839\u8bef\u5dee(RMSE)\u7ed3\u679c\u53ef\u77e5\uff0c\u8bd5\u9a8c\u533a\u57df<em>A<\/em>\u3001<em>B<\/em>\u7684\u5747\u65b9\u6839\u8bef\u5dee\u5747\u4f4e\u4e8e0.2\uff0c\u672c\u6587\u7684\u73af\u5883\u70b9\u4e91\u5730\u56fe\u91c7\u96c6\u5e73\u53f0\u53ef\u4ee5\u83b7\u5f97\u9ad8\u8d28\u91cf\u7684\u73af\u5883\u70b9\u4e91\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" width=\"200\" src=\"https:\/\/p26-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/354eede1a0adb1826c361992092e3a41~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=Pnrgxa8Cji1yQSB7G6nLmtha%2BVc%3D\"><\/p>\n\n\n\n<p>\u56fe 11 \u91c7\u7528\u5f95\u5361RTC360\u8fdb\u884c\u5b9e\u9645\u6807\u51c6\u7684\u70b9\u4e91\u6570\u636e\u91c7\u96c6<\/p>\n\n\n\n<p><img decoding=\"async\" width=\"200\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/83feab8f608fe5a3a9305d3f22206e7c~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=r64k%2BQRF1yxBLK0UomH%2BfCaAAoM%3D\"><\/p>\n\n\n\n<p>\u56fe 12 \u8bd5\u9a8c\u533a\u57df\u7684\u70b9\u4e91\u56fe\u8bc4\u4f30\u8868 2 \u5a01\u5e03\u5c14\u5206\u5e03\u53c2\u6570\u4e0e\u5747\u65b9\u6839\u8bef\u5dee<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-tjoges91tu\/9d7a0bff5bfe8a8a094811b072231444~tplv-tt-origin-web:gif.jpeg?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1739758663&amp;x-signature=ooR0NeeoXAVU4EHM7wVasEZlOUA%3D\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>4 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