IOS connect Connection security failed

Connection security failed: role: Peripheral, conn_handle: 0x6, procedure: Encryption, error: 4102
PM_EVT_CONN_SEC_FAILED: peer_id=65535, procedure=0, error=0x1006(PM_CONN_SEC_ERROR_PIN_OR_KEY_MISSING)

The above error occurs when using ios mobile phone connection, and it is normal to use Android mobile phone connection. How do I solve it?

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