百度mrcp语音识别失败

mrcp服务启动成功，但是执行asrclient失败了，请教各位遇到过这种报错吗？

err_no=-15, desc:authorization failed

06-27 09:03:47:670 [baidu/speech-arch/mrcp-asr/websocket_task.cpp:146][WebsocketTask::on_command][logid:181a360e359340d5_2_1] recv ASR msg, type: AUTH_FAILED
06-27 09:03:47:670 [baidu/speech-arch/mrcp-asr/websocket_task.cpp:155][WebsocketTask::on_command][logid:181a360e359340d5_2_1] ASR authorize failed
06-27 09:03:47:670 [baidu/speech-arch/mrcp-asr/websocket_task.cpp:650][WebsocketTask::send_msg][logid:181a360e359340d5_2_1] data len is 18, string len is 18
06-27 09:03:47:670 [baidu/speech-arch/mrcp-asr/websocket_task.cpp:655][WebsocketTask::send_msg][logid:181a360e359340d5_2_1] send ASR msg, body type: ASR_EVENT, event type: CHANNEL_INTERRUPT
06-27 09:03:47:670 [baidu/speech-arch/mrcp-asr/websocket_task.cpp:337][WebsocketTask::on_command][logid:181a360e359340d5_2_1][err_no:-15] read finish when fail or stop
06-27 09:03:47:672 [baidu/speech-arch/mrcp-asr/asr_context.cpp:181][ASRContext::send_result_message][session_id:181a360e359340d5][request_id:2]respond FAILED
06-27 09:03:47:672 [baidu/speech-arch/mrcp-asr/recognizer.cpp:613][Recognizer::recognize][session:181a360e359340d5][request:2][recog_type:0][err_no=-15, desc:authorization failed] asr_ip=wss://vse.baidu.com/call audio_len=0 total_time=1144 wait_audio_time=638 first_response_time=0 asr_delay_time=0 recognize_time=0] [ws_uri=wss://vse.baidu.com/call?session=181a360e359340d5_2_1&link_type=3] Finished

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APPID和APPKEY是按照说明填的，理论上不应该出现AUTH_FAILED