{"id":723,"date":"2016-12-01T15:42:39","date_gmt":"2016-12-02T00:42:39","guid":{"rendered":"\/blog\/?p=723"},"modified":"2023-09-21T09:37:51","modified_gmt":"2023-09-21T00:37:51","slug":"ekf-extended-kalman-filter-using-simulink-%ed%99%95%ec%9e%a5-%ec%b9%bc%eb%a7%8c%ed%95%84%ed%84%b0%eb%a1%9c-%eb%a0%88%ec%9d%b4%eb%8b%a4%ec%b6%94%ec%a0%81-%ec%98%88%ec%a0%9c","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=723","title":{"rendered":"EKF-Extended Kalman Filter using Simulink \ud655\uc7a5 \uce7c\ub9cc\ud544\ud130\ub85c \ub808\uc774\ub2e4\ucd94\uc801 \uc608\uc81c"},"content":{"rendered":"\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\ucd9c\ucc98 :&nbsp;<\/span><a href=\"http:\/\/blog.naver.com\/chogaehwan\/220771221809\" target=\"_blank\" rel=\"noopener\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">http:\/\/blog.naver.com\/chogaehwan\/220771221809<\/span><\/a><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><br \/><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\ud655\uc7a5\uce7c\ub9cc\ud544\ud130\ub85c \ub808\uc774\ub2e4\ucd94\uc801<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><img loading=\"lazy\" decoding=\"async\" src=\"\/blog\/wp-content\/uploads\/cms_xe\/img0659.png\" alt=\"1.png\" width=\"575\" height=\"707\" editor_component=\"image_link\" \/>\r\n<\/p>\r\n<p><br \/><\/p>\r\n<br \/><p><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uce21\uc815\uac12\uc774 \ubc14\ub85c \ubb3c\uccb4\uae4c\uc9c0\uc758 \uac70\ub9ac\uc774\ub2e4.<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uc774\uac83\uc744 \uac16\uace0 \uace0\ub3c4\uc640 \uc9c1\uc120\ubc29\ud5a5\uac70\ub9ac, \uc18d\ub3c4\ub97c \ucd94\uc815\ud574\ubcf4\ub294 \uac83\uc744 \ud574\ubcf4\uc790<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\ubb3c\uccb4\uae4c\uc9c0\uc758 \uac70\ub9ac\uac00 \ube44\uc120\ud615\uc778 \ucf00\uc774\uc2a4<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">&nbsp;<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">&nbsp;<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><img loading=\"lazy\" decoding=\"async\" src=\"\/blog\/wp-content\/uploads\/cms_xe\/img0276.png\" alt=\"11.png\" width=\"289\" height=\"462\" editor_component=\"image_link\" \/>\r\n<\/p>\r\n<p><br \/><\/p>\r\n<br \/><p><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uac70\ub9ac\ub294 \uc774 \ucf54\ub4dc\uc758 \ub9e4\ud2b8\ub7a9function\uc744 \ud1b5\ud574 \ubc1b\ub294\ub2e4.<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">&nbsp;<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><img loading=\"lazy\" decoding=\"async\" src=\"\/blog\/wp-content\/uploads\/cms_xe\/img0916.png\" alt=\"2.png\" width=\"698\" height=\"412\" editor_component=\"image_link\" \/>\r\n<\/p>\r\n<p><br \/><\/p>\r\n<br \/><p><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uc774\ub807\uac8c \ubaa8\ub378\ub9c1<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><img loading=\"lazy\" decoding=\"async\" src=\"\/blog\/wp-content\/uploads\/cms_xe\/img0178.png\" alt=\"12.png\" width=\"518\" height=\"757\" editor_component=\"image_link\" \/>\r\n<\/p>\r\n<p><br \/><\/p>\r\n<br \/><p><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uc0dd\uac01\ubcf4\ub2e4 \uac04\ub2e8\ud558\uac8c \ub410\ub124\u2026<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uacb0\uacfc\ub294 \uc88b\ub2e4..<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uc8fc\uc694\ud55c\uac74 \uc5ed\uc2dc H\ub97c \uc800\ub7f0 \uc2dd\uc73c\ub85c \uad6c\ud574\uc57c \ud55c\ub2e4\ub294 \uac83\uc774\ub2e4. \uc608\uce21\uac12\uc5d0\uc11c\uc758 \uc120\ud615\ud654\ub97c \ud1b5\ud574 \uc800\ub807\uac8c \uad6c\ud55c\ub2e4..<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uc120\ud615\uc2dc\uc2a4\ud15c\uc5d0\uc11c\ub294 H\uac00 \uce21\uc815\uac12\uacfc state\uc640\uc758 \uad00\uacc4\ub97c \ub098\ud0c0\ub0b4\ub294 \uac12\uc774\uc5c8\ub294\ub370\u2026\uc800\ub7f0\uc2dd\uc73c\ub85c \ub41c\ub2e4\u2026h(x)\ub97c \ud3b8\ubbf8\ubd84\ud574\uc11c \uc608\uce21\uac12\uc744 \ub123\uc740\uac70\uc9c0. \uc65c \uc9c1\uc804 \ucd94\uc815\uac12\uc744 \ub123\uc9c0 \uc54a\uace0 \uc608\uce21\uac12\uc744 \ub123\uc5c8\uc744\uae4c?<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uc9c1\uc804 \ucd94\uc815\uac12\ubcf4\ub2e4\ub294 \ud604\uc7ac \uc608\uce21\uac12\uc774 \ub354 \ud604\uc7ac\uac12\uc5d0 \uadfc\uc811\ud558\ub2e4\uace0 \ud310\ub2e8\ud560 \uc218 \uc788\uae30 \ub54c\ubb38<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uc120\ud615\uc2dc\uc2a4\ud15c\uc5d0\uc11c z=H*xp+v\ub294 xp\ub97c \ud1b5\ud574 z\ub97c \uacc4\uc0b0\ud55c \uac83\uc774\ub2e4. h\ub3c4 \ub9c8\ucc2c\uac00\uc9c0\ub2e4. \ud568\uc218\uc774\uace0. H\ub294 \uadf8 \ud568\uc218\uc5d0 \uac01\uac01 \uc131\ubd84\uc73c\ub85c \ud3b8\ubbf8\ubd84\ud558\uace0 \ub300\uc785\ud558\uc5ec \uad6c\ud55c \uac12\uc774\ub2e4. \uc5ec\uae30\uc11c H\uac00 \ubc14\ub85c \uc790\ucf54\ube44\uc548 \ud589\ub82c\uc774\ub77c\ub294 \uac83\uc774\ub2e4.<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">&nbsp;<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><a href=\"http:\/\/darkpgmr.tistory.com\/132\" target=\"_blank\" class=\"con_link\" style=\"text-decoration: none; word-wrap: break-word;\" rel=\"noopener\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">http:\/\/darkpgmr.tistory.com\/132<\/span><\/a><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">&nbsp;<\/span><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uc774\uac78 \ucc38\uace0\ud574\ub3c4 \uc88b\ub2e4..<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">&nbsp;<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">\uacb0\uacfc\ub294<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><img loading=\"lazy\" decoding=\"async\" src=\"\/blog\/wp-content\/uploads\/cms_xe\/img0546.png\" alt=\"3.png\" width=\"504\" height=\"370\" editor_component=\"image_link\" \/>\r\n<\/p>\r\n<p><br \/><\/p>\r\n<br \/><p><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">x_trk<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><img loading=\"lazy\" decoding=\"async\" src=\"\/blog\/wp-content\/uploads\/cms_xe\/img0773.png\" alt=\"4.png\" width=\"698\" height=\"466\" editor_component=\"image_link\" \/>\r\n<\/p>\r\n<p><br \/><\/p>\r\n<br \/><p><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">h_alt \uc644\uc804\ud788 1000m\uae4c\uc9c0\ub294 \uc548 \uac00\ub124?<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">&nbsp;<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><img loading=\"lazy\" decoding=\"async\" src=\"\/blog\/wp-content\/uploads\/cms_xe\/img0234.png\" alt=\"5.png\" width=\"698\" height=\"562\" editor_component=\"image_link\" \/>\r\n<\/p>\r\n<p><br \/><\/p>\r\n<br \/><p><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">velo \uc654\ub2e4\uac14\ub2e4\ud558\ub294\uad70\u2026\ucc38\uac12\uc740 100<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;;\">&nbsp;<\/span><\/p>\r\n<p style=\"padding: 0px; line-height: 1.5; color: rgb(51, 51, 51); font-family: \ub3cb\uc6c0; text-align: justify; background-color: rgb(255, 255, 255);\"><img loading=\"lazy\" decoding=\"async\" src=\"\/blog\/wp-content\/uploads\/cms_xe\/img0628.png\" alt=\"6.png\" width=\"698\" height=\"531\" editor_component=\"image_link\" \/>\r\n<\/p>\r\n<p><span style=\"font-family: \uad74\ub9bc, \ub3cb\uc74c, \ub098\ub214\uace0\ub515, &quot;Arial Unicode MS&quot;, Tahoma, &quot;MS Serif&quot;; background-color: rgb(255, 255, 255); color: rgb(51, 51, 51); text-align: justify;\">\uac70\ub9ac\ub97c \uce21\uc815\uac12\uacfc \ucd94\uc815\uac12 \ube44\uad50\ud55c \uac83\u2026\uc798 \ub098\uc628\ub2e4 \uc640\uc6b0<\/span><br \/><\/p>\r\n<div class=\"autosourcing-stub-extra\" style=\"position: absolute; opacity: 0; line-height: 1.5;\"><\/div><p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\ucd9c\ucc98 :&nbsp;http:\/\/blog.naver.com\/chogaehwan\/220771221809 \ud655\uc7a5\uce7c\ub9cc\ud544\ud130\ub85c \ub808\uc774\ub2e4\ucd94\uc801 \uce21\uc815\uac12\uc774 \ubc14\ub85c \ubb3c\uccb4\uae4c\uc9c0\uc758 \uac70\ub9ac\uc774\ub2e4. \uc774\uac83\uc744 \uac16\uace0 \uace0\ub3c4\uc640 \uc9c1\uc120\ubc29\ud5a5\uac70\ub9ac, \uc18d\ub3c4\ub97c \ucd94\uc815\ud574\ubcf4\ub294 \uac83\uc744 \ud574\ubcf4\uc790 \ubb3c\uccb4\uae4c\uc9c0\uc758 \uac70\ub9ac\uac00 \ube44\uc120\ud615\uc778 \ucf00\uc774\uc2a4 &nbsp; &nbsp; \uac70\ub9ac\ub294 \uc774 \ucf54\ub4dc\uc758 \ub9e4\ud2b8\ub7a9function\uc744 \ud1b5\ud574 \ubc1b\ub294\ub2e4. &nbsp; \uc774\ub807\uac8c \ubaa8\ub378\ub9c1 \uc0dd\uac01\ubcf4\ub2e4 \uac04\ub2e8\ud558\uac8c \ub410\ub124\u2026 \uacb0\uacfc\ub294 \uc88b\ub2e4.. \uc8fc\uc694\ud55c\uac74 \uc5ed\uc2dc H\ub97c \uc800\ub7f0 \uc2dd\uc73c\ub85c \uad6c\ud574\uc57c \ud55c\ub2e4\ub294 \uac83\uc774\ub2e4. \uc608\uce21\uac12\uc5d0\uc11c\uc758 \uc120\ud615\ud654\ub97c \ud1b5\ud574 \uc800\ub807\uac8c \uad6c\ud55c\ub2e4.. \uc120\ud615\uc2dc\uc2a4\ud15c\uc5d0\uc11c\ub294 H\uac00 \uce21\uc815\uac12\uacfc state\uc640\uc758 \uad00\uacc4\ub97c \ub098\ud0c0\ub0b4\ub294 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