ubuntu1604 apt update 失败 An error occurred during the signature verification.

lalala@lalala:~$ sudo apt-get update

Get:1 http://mirrors.ustc.edu.cn/ros/ubuntu xenial InRelease [4,678 B]
Err:1 http://mirrors.ustc.edu.cn/ros/ubuntu xenial InRelease                                                                 
  The following signatures were invalid: KEYEXPIRED 1622248854
Hit:2 http://ports.ubuntu.com xenial InRelease                                                                               
Hit:3 http://ppa.launchpad.net/ubunt ... buntu xenial InRelease
Hit:4 http://ports.ubuntu.com xenial-updates InRelease                  
Hit:5 http://ports.ubuntu.com xenial-security InRelease                      
Hit:6 http://ports.ubuntu.com xenial-backports InRelease                 
Hit:7 http://ppa.launchpad.net/ubunt ... buntu xenial InRelease
Ign:8 https://packages.ubiquityrobot ... quity xenial InRelease
Ign:9 https://packages.ubiquityrobot ... quity xenial Release
Ign:10 https://packages.ubiquityrobot ... quity xenial/main armhf Packages
Ign:11 https://packages.ubiquityrobot ... quity xenial/main all Packages
Ign:12 https://packages.ubiquityrobot ... quity xenial/main Translation-en_US
Ign:13 https://packages.ubiquityrobot ... quity xenial/main Translation-en
Ign:14 https://packages.ubiquityrobot ... quity xenial/pi armhf Packages
Ign:15 https://packages.ubiquityrobot ... quity xenial/pi all Packages
Ign:16 https://packages.ubiquityrobot ... quity xenial/pi Translation-en_US
Ign:17 https://packages.ubiquityrobot ... quity xenial/pi Translation-en
Ign:10 https://packages.ubiquityrobot ... quity xenial/main armhf Packages
Ign:11 https://packages.ubiquityrobot ... quity xenial/main all Packages
Ign:12 https://packages.ubiquityrobot ... quity xenial/main Translation-en_US
Ign:13 https://packages.ubiquityrobot ... quity xenial/main Translation-en
Ign:14 https://packages.ubiquityrobot ... quity xenial/pi armhf Packages
Ign:15 https://packages.ubiquityrobot ... quity xenial/pi all Packages
Ign:16 https://packages.ubiquityrobot ... quity xenial/pi Translation-en_US
Ign:17 https://packages.ubiquityrobot ... quity xenial/pi Translation-en
Ign:10 https://packages.ubiquityrobot ... quity xenial/main armhf Packages
Ign:11 https://packages.ubiquityrobot ... quity xenial/main all Packages
Ign:12 https://packages.ubiquityrobot ... quity xenial/main Translation-en_US
Ign:13 https://packages.ubiquityrobot ... quity xenial/main Translation-en
Ign:14 https://packages.ubiquityrobot ... quity xenial/pi armhf Packages
Ign:15 https://packages.ubiquityrobot ... quity xenial/pi all Packages
Ign:16 https://packages.ubiquityrobot ... quity xenial/pi Translation-en_US
Ign:17 https://packages.ubiquityrobot ... quity xenial/pi Translation-en
Ign:10 https://packages.ubiquityrobot ... quity xenial/main armhf Packages
Ign:11 https://packages.ubiquityrobot ... quity xenial/main all Packages
Ign:12 https://packages.ubiquityrobot ... quity xenial/main Translation-en_US
Ign:13 https://packages.ubiquityrobot ... quity xenial/main Translation-en
Ign:14 https://packages.ubiquityrobot ... quity xenial/pi armhf Packages
Ign:15 https://packages.ubiquityrobot ... quity xenial/pi all Packages
Ign:16 https://packages.ubiquityrobot ... quity xenial/pi Translation-en_US
Ign:17 https://packages.ubiquityrobot ... quity xenial/pi Translation-en
Ign:10 https://packages.ubiquityrobot ... quity xenial/main armhf Packages
Ign:11 https://packages.ubiquityrobot ... quity xenial/main all Packages
Ign:12 https://packages.ubiquityrobot ... quity xenial/main Translation-en_US
Ign:13 https://packages.ubiquityrobot ... quity xenial/main Translation-en
Ign:14 https://packages.ubiquityrobot ... quity xenial/pi armhf Packages
Ign:15 https://packages.ubiquityrobot ... quity xenial/pi all Packages
Ign:16 https://packages.ubiquityrobot ... quity xenial/pi Translation-en_US
Ign:17 https://packages.ubiquityrobot ... quity xenial/pi Translation-en
Err:10 https://packages.ubiquityrobot ... quity xenial/main armhf Packages
  server certificate verification failed. CAfile: /etc/ssl/certs/ca-certificates.crt CRLfile: none
Ign:11 https://packages.ubiquityrobot ... quity xenial/main all Packages
Ign:12 https://packages.ubiquityrobot ... quity xenial/main Translation-en_US
Ign:13 https://packages.ubiquityrobot ... quity xenial/main Translation-en
Ign:14 https://packages.ubiquityrobot ... quity xenial/pi armhf Packages
Ign:15 https://packages.ubiquityrobot ... quity xenial/pi all Packages
Ign:16 https://packages.ubiquityrobot ... quity xenial/pi Translation-en_US
Ign:17 https://packages.ubiquityrobot ... quity xenial/pi Translation-en
Fetched 4,678 B in 50s (91 B/s)
Reading package lists... Done
W: An error occurred during the signature verification. The repository is not updated and the previous index files will be used. GPG error: http://mirrors.ustc.edu.cn/ros/ubuntu xenial InRelease: The following signatures were invalid: KEYEXPIRED 1622248854
W: The repository 'https://packages.ubiquityrobotics.com/ubuntu/ubiquity xenial Release' does not have a Release file.
N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use.
N: See apt-secure(8) manpage for repository creation and user configuration details.
W: Failed to fetch http://mirrors.ustc.edu.cn/ros ... lease  The following signatures were invalid: KEYEXPIRED 1622248854
E: Failed to fetch https://packages.ubiquityrobot ... kages  server certificate verification failed. CAfile: /etc/ssl/certs/ca-certificates.crt CRLfile: none
W: Some index files failed to download. They have been ignored, or old ones used instead.