An indoor-outdoor conversion context adaptive navigation information control method and device and medium

Abstract

The application discloses an indoor-outdoor conversion context adaptive navigation information control method, device and medium, and steps include: a decision control module 3 generates an adaptive visual control instruction according to a difference degree and a psychological rotation ability index. A rendering engine 4 executes rendering according to the adaptive visual control instruction and outputs a picture through a display terminal 5. The system comprises a data acquisition module, a context analysis module, a decision control module, a rendering engine and a display terminal. The application introduces a path direction forced alignment mechanism, specifically solves a cognitive load problem caused by a space reference system conversion, enables a user to directly eliminate cognitive hindrance caused by psychological rotation without needing to perform a complex coordinate system rotation operation in the brain when crossing a physical boundary, and thus significantly improves direction judgment efficiency of the user at a conversion node and accuracy of cognitive map construction.

Description

Technical Field

[0001] This invention relates to the field of navigation, specifically to an adaptive navigation information control method, device, and medium for indoor-outdoor transition scenarios. Background Technology

[0002] With the development of handheld mobile terminals and positioning technology, pedestrian navigation services have gradually expanded from single outdoor navigation to combined indoor and outdoor navigation. Existing research on seamless indoor-outdoor integrated navigation typically connects indoor and outdoor spaces through nodes such as building entrances, and focuses on the seamless connection of indoor and outdoor positioning technologies, route calculation integrating indoor and outdoor spaces, and multimodal navigation guidance components supporting indoor-outdoor route connections at the system level. In the aforementioned existing technologies, indoor and outdoor positioning often employ different technical paths (e.g., outdoor GNSS, indoor QR code / visual, etc.), and outdoor space models are mostly 2D / 2.5D, while indoor models may be 2D flat maps or more complex 3D models, making unified indoor and outdoor modeling and fusion presentation incompatible and difficult to implement. Although existing technologies have conducted numerous studies on seamless navigation, their focus has often been on issues such as precise indoor and outdoor positioning and data structure integration, with relatively insufficient attention paid to the interaction during the navigation process and support for users' spatial cognition. Furthermore, indoor and outdoor spaces themselves differ significantly in structure, constraints, and uses, which makes it easy for users to become confused and lost at indoor-outdoor transition points (such as entrances, lobbies, and connecting corridors) during actual travel.

[0003] The existing technology has at least the following drawbacks:

[0004] (1) There is a lack of a mechanism for identifying and assessing “spatial cognitive risks” in indoor-outdoor transition scenarios, making it difficult to detect navigation difficulties caused by factors such as structural abrupt changes and changes in visual cues in a timely manner;

[0005] (2) There is a lack of technical solutions for adaptive control of navigation information based on environmental structural characteristics, environmental visual continuity and user differences (such as differences in psychological rotation ability), making it difficult to reduce the cognitive load of users and improve navigation stability and comprehensibility at transition nodes. Summary of the Invention

[0006] The purpose of this invention is to provide an adaptive navigation information control method for indoor-outdoor transition scenarios, comprising the following steps:

[0007] Step 1) Collect user's geographic location coordinates and inertial data in real time;

[0008] Step 2) Calculate the distance between the user's geographic location coordinates and the pre-stored indoor / outdoor conversion nodes. When the distance If the value is less than the preset threshold, proceed to step 3; otherwise, return to step 1.

[0009] Step 3) Use the scenario analysis module to calculate the structural feature differences between the current outdoor environment and the upcoming indoor environment. The calculation formula is as follows:

[0010] Step 4) Calculate the user's psychological rotation ability index based on the user's historical navigation behavior data.

[0011] Step 5) Based on the difference degree, the decision control module... Determine the severity of environmental changes and combine them with the psychological rotation ability index. Generate adaptive visual control commands;

[0012] Step 6) The rendering engine executes rendering according to the adaptive view control instructions and outputs the screen through the display terminal.

[0013] Furthermore, in step 1), the user's geographical location coordinates are obtained in real time through the positioning unit built into the mobile terminal. .

[0014] Furthermore, in step 1), user inertial data, including real-time travel speed, is collected through the inertial measurement unit built into the mobile terminal. and direction vector .

[0015] Furthermore, structural feature differences The differences are determined by the degree of boundary closure, the degree of route dimension difference, and the angle of path direction. Decide;

[0016] Structural feature difference As shown below:

[0017]

[0018] In the formula, This is the difference value for boundary closure (e.g., 1 for open to closed, 0 otherwise). This represents the difference value in the route dimension (e.g., 1 if there is an elevation difference, 0 otherwise). The angle between the path directions; , , These are the weighting coefficients for each feature. The larger the value, the more drastic the environmental change.

[0019] Furthermore, the included angle of the path direction The geometric angle between the outdoor travel vector and the indoor entrance path vector;

[0020] Boundary closure difference is used to quantify the degree of change in field of view from open to closed;

[0021] Route dimension difference is used to quantify changes in elevation.

[0022] Furthermore, the adaptive visual control commands include strong auxiliary visual control commands and regular visual control commands;

[0023] When the mental rotation ability index When the threshold is less than the preset capability index, the adaptive visual control command becomes a strong auxiliary visual control command.

[0024] When the mental rotation ability index When the preset capability index is greater than or equal to the adaptive visual control index, the adaptive visual control command is the regular visual control command.

[0025] Mental Rotation Ability Index As shown below:

[0026]

[0027] In the formula, This represents the average number of times a user hesitates when passing transition nodes in the historical navigation. This represents the average time a user spends navigating through transition nodes in the historical navigation. and These are the preset reference values ​​for the number of hesitations and the standard time reference values, respectively. , These are the weighting coefficients, and . The smaller the value, the weaker the user space capability;

[0028] Furthermore, the rendering engine performs rendering based on strongly assisted visual control instructions, and the rendering execution includes the following steps performed sequentially:

[0029] Step S1) Calculate the rotation matrix The indoor map data is subjected to an inverse rotation transformation so that the indoor entrance path vector in the navigation screen coordinate system is... The display direction is visually aligned with the user's line of sight, or the angle between them is within a preset range, to eliminate the cognitive burden of reference frame transformation (alignment). The rotation matrix... The calculation formula is as follows:

[0030]

[0031] In the formula, Outdoor travel direction vector With indoor entrance path vector The included angle;

[0032] Step S2) Based on the user's distance from the entry point The rendering transparency of the building walls surrounding the entrance is dynamically calculated using a decay function. And based on the rendering transparency Render; when rendering transparency When the value is less than the preset value, the solid wall rendering is switched to wireframe mode (transparent). The rendering transparency is... The calculation formula is as follows:

[0033]

[0034] In the formula, The user's current distance. To set the initial transparency distance threshold, To achieve complete transparency, the distance threshold is... This is the preset minimum transparency value.

[0035] Step S3) At the instant the map data source switches from outdoors to indoors, disable instantaneous transitions; the system bases the transition on the current travel speed. Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual optical flow (optical flow compensation).

[0036] Furthermore, the rendering engine executes the rendering steps according to regular view control instructions, including:

[0037] Preserve the original coordinate orientation and material properties of the indoor map data;

[0038] Disable instantaneous transitions when the map data source switches from outdoor to indoor.

[0039] The system is based on the current travel speed Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual optical flow.

[0040] The adaptive navigation information control system using the method described above includes a data acquisition module, a scenario analysis module, a decision control module, a rendering engine, and a display terminal.

[0041] The data acquisition module includes a positioning unit and an inertial measurement unit.

[0042] The positioning unit and the inertial measurement unit respectively collect the user's geographical location coordinates and inertial data.

[0043] The context analysis module includes a feature extraction unit and a difference calculation unit.

[0044] The feature extraction unit is used to extract features of the current outdoor environment and the indoor environment to be entered, including the difference in boundary closure, the difference in route dimension, and the angle of the path direction.

[0045] The difference calculation unit is used to calculate the structural feature difference between the current outdoor environment and the indoor environment to be entered. .

[0046] The decision control module includes an alignment control unit, a transparency calculation unit, and an optical flow generation unit;

[0047] The alignment control unit calculates the rotation matrix and performs an inverse rotation transformation on the indoor map data, so that the indoor entrance path vector in the navigation screen coordinate system is aligned correctly. The display direction is visually aligned with the user's line of sight or the angle between them is within a preset range to eliminate the cognitive burden of reference frame conversion.

[0048] The transparency calculation unit is based on the user's distance from the entrance. The rendering transparency of the building walls surrounding the entrance is dynamically calculated using a decay function. And based on the rendering transparency Perform rendering. When rendering transparency... When the value is less than the preset value, the solid wall rendering will be switched to wireframe mode.

[0049] The optical flow generation unit disables instantaneous transitions the moment the map data source switches from outdoors to indoors, and the system bases its operation on the current travel speed. Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual optical flow.

[0050] The rendering engine is used to perform graphics transformations and rendering.

[0051] The display terminal is used to display the navigation interface.

[0052] The technical effectiveness of this invention is undeniable. By introducing a forced alignment mechanism for path direction, this invention specifically addresses the cognitive load problem caused by spatial reference system transformation. During indoor-outdoor scene transitions, the system calculates and eliminates the geometric angle between indoor and outdoor path vectors, ensuring that the path direction in the navigation view always aligns with the user's current line of sight. This technical feature eliminates the need for users to perform complex coordinate system rotations in their minds when crossing physical boundaries, directly removing the cognitive obstacles caused by mental rotation. This significantly improves the efficiency of directional judgment at transition nodes and the accuracy of cognitive map construction.

[0053] This invention effectively overcomes the visual information blockage caused by abrupt changes in environmental structure through dynamic demasking rendering technology. The system adjusts the rendering transparency of building walls or obstructions in real time based on the distance between the user and the conversion node, achieving a transparent display of the interior environment. This effect allows users to obtain key landmarks and topological information before entering the interior, establishing a coherent psychological expectation of the subsequent path, thereby alleviating the spatial perception disruption and hesitation caused by closed views.

[0054] This invention utilizes an optical flow continuity compensation algorithm to optimize the visual experience when switching between heterogeneous map data. At the instant of switching from an outdoor view to an indoor view, the system constructs a continuous forward visual optical flow by interpolating and generating transition frames, maintaining the smoothness of the visual motion vector. This technique simulates the visual perception process of the human eye during natural movement, ensuring the continuity of the user's perception of their own motion state and effectively suppressing spatial orientation confusion and the "local deflection-mirror distortion effect" caused by screen jumps.

[0055] Furthermore, this invention achieves differentiated assistance based on user spatial capabilities through the collaboration of the context analysis module and the decision control module. The system can quantitatively assess the user's psychological rotation ability index and adaptively adjust the strength of the assistance strategy accordingly. This mechanism ensures that the system can provide necessary strong guidance support for users with weak spatial capabilities while avoiding information redundancy interference for users with strong spatial capabilities, demonstrating the navigation system's high adaptability and user inclusivity in complex environments. Attached Figure Description

[0056] Figure 1 This is a flowchart illustrating an adaptive navigation information control method according to the present invention;

[0057] Figure 2 This is a schematic diagram of the module architecture of an adaptive navigation information processing system according to the present invention;

[0058] Figure 3 This is a schematic diagram of path alignment control and demasking control in this invention;

[0059] Figure 4 This is a schematic diagram of optical flow continuity compensation in this invention.

[0060] The figure shows: positioning unit 101, inertial measurement unit 102, feature extraction unit 201, difference calculation unit 202, alignment control unit 301, transparency calculation unit 302, optical flow generation unit 303, rendering engine 4, and display terminal 5. Detailed Implementation

[0061] The present invention will be further described below with reference to embodiments, but it should not be construed that the scope of the present invention is limited to the following embodiments. Various substitutions and modifications made based on ordinary technical knowledge and common practices in the art without departing from the above-described technical concept of the present invention should be included within the scope of protection of the present invention.

[0062] Example 1:

[0063] See Figures 1 to 4 An adaptive navigation information control method for indoor-outdoor transition scenarios includes the following steps:

[0064] Step 1) Collect user's geographic location coordinates and inertial data in real time;

[0065] Step 2) Calculate the distance between the user's geographic location coordinates and the pre-stored indoor / outdoor conversion nodes. When the distance If the value is less than the preset threshold, proceed to step 3; otherwise, return to step 1.

[0066] Step 3) Use Context Analysis Module 2 to calculate the structural feature differences between the current outdoor environment and the upcoming indoor environment. The calculation formula is as follows:

[0067] Step 4) Calculate the user's psychological rotation ability index based on the user's historical navigation behavior data.

[0068] Step 5) Based on the difference degree according to the decision control module 3 Determine the severity of environmental changes and combine them with the psychological rotation ability index. Generate adaptive visual control commands;

[0069] Step 6) Rendering engine 4 executes rendering according to the adaptive view control instructions and outputs the screen through the display terminal.

[0070] Example 2:

[0071] An adaptive navigation information control method for indoor-outdoor transition scenarios, with the same technical content as Embodiment 1, further comprising the following step 1), wherein the user's geographic location coordinates are obtained in real time through the positioning unit 101 built into the mobile terminal. .

[0072] Example 3:

[0073] An adaptive navigation information control method for indoor-outdoor transition scenarios, with technical content identical to any one of embodiments 1-2, further comprising the following step 1): collecting user inertial data, including real-time travel speed, through the inertial measurement unit 102 built into the mobile terminal. and direction vector .

[0074] Example 4:

[0075] An adaptive navigation information control method for indoor-outdoor transition scenarios, with technical content identical to any one of embodiments 1-3, further including structural feature differences. The differences are determined by the degree of boundary closure, the degree of route dimension difference, and the angle of path direction. Decide;

[0076] Structural feature difference As shown below:

[0077]

[0078] In the formula, This is the difference value for boundary closure (e.g., 1 for open to closed, 0 otherwise). This represents the difference value in the route dimension (e.g., 1 if there is an elevation difference, 0 otherwise). The angle between the path directions; , , These are the weighting coefficients for each feature. The larger the value, the more drastic the environmental change.

[0079] Example 5:

[0080] An adaptive navigation information control method for indoor-outdoor transition scenarios, with the same technical content as any one of embodiments 1-4, further specifying the path direction angle. The geometric angle between the outdoor travel vector and the indoor entrance path vector;

[0081] Boundary closure difference is used to quantify the degree of change in field of view from open to closed;

[0082] Route dimension difference is used to quantify changes in elevation.

[0083] Example 6:

[0084] An adaptive navigation information control method for indoor-outdoor transition scenarios, with the same technical content as any one of embodiments 1-5, further comprising the adaptive visual control command including a strong auxiliary visual control command and a conventional visual control command;

[0085] When the mental rotation ability index When the threshold is less than the preset capability index, the adaptive visual control command becomes a strong auxiliary visual control command.

[0086] When the mental rotation ability index When the preset capability index is greater than or equal to the adaptive visual control index, the adaptive visual control command is the regular visual control command.

[0087] Mental Rotation Ability Index As shown below:

[0088]

[0089] In the formula, This represents the average number of times a user hesitates when passing transition nodes in the historical navigation. This represents the average time a user spends navigating through transition nodes in the historical navigation. and These are the preset reference values ​​for the number of hesitations and the standard time reference values, respectively. , These are the weighting coefficients, and . The smaller the value, the weaker the user space capability;

[0090] Example 7:

[0091] An adaptive navigation information control method for indoor-outdoor transition scenarios, with technical content identical to any one of embodiments 1-6, further comprising: rendering engine 4 performing rendering based on strongly assisted visual control instructions, wherein the rendering execution includes the following steps performed sequentially:

[0092] Step S1) Calculate the rotation matrix The indoor map data is subjected to an inverse rotation transformation so that the indoor entrance path vector in the navigation screen coordinate system is... The display direction is visually aligned with the user's line of sight, or the angle between them is within a preset range, to eliminate the cognitive burden of reference frame transformation (alignment). The rotation matrix... The calculation formula is as follows:

[0093]

[0094] In the formula, This is the outdoor travel direction vector. This is the indoor entrance path vector. The rendering engine applies this matrix to represent the angle between the two. Transform the coordinate system of indoor map data;

[0095] Step S2) Based on the user's distance from the entry point The rendering transparency of the building walls surrounding the entrance is dynamically calculated using a decay function. And based on the rendering transparency Render; when rendering transparency When the value is less than the preset value, the solid wall rendering is switched to wireframe mode (transparent). The rendering transparency is... The calculation formula is as follows:

[0096]

[0097] In the formula, The user's current distance. To set the initial transparency distance threshold, To achieve complete transparency, the distance threshold is... This is the preset minimum transparency value.

[0098] Step S3) At the instant the map data source switches from outdoors to indoors, disable instantaneous transitions; the system bases the transition on the current travel speed. Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual optical flow (optical flow compensation).

[0099] Example 8:

[0100] An adaptive navigation information control method for indoor-outdoor transition scenarios, with technical content identical to any one of embodiments 1-7, further comprising the following steps in which the rendering engine 4 executes rendering based on conventional visual control commands:

[0101] Preserve the original coordinate orientation and material properties of the indoor map data;

[0102] Disable instantaneous transitions when the map data source switches from outdoor to indoor.

[0103] The system is based on the current travel speed Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual optical flow.

[0104] Example 9:

[0105] An adaptive navigation information control system using the method described in any one of Examples 1-8 includes a data acquisition module, a scenario analysis module, a decision control module, a rendering engine 4, and a display terminal.

[0106] The data acquisition module includes a positioning unit 101 and an inertial measurement unit 102.

[0107] The positioning unit 101 and the inertial measurement unit 102 respectively collect the user's geographical location coordinates and inertial data.

[0108] The context analysis module includes a feature extraction unit 201 and a difference calculation unit 202.

[0109] The feature extraction unit 201 is used to extract features of the current outdoor environment and the indoor environment to be entered, including the difference in boundary closure, the difference in route dimension, and the angle of the path direction.

[0110] The difference calculation unit 202 is used to calculate the structural feature difference between the current outdoor environment and the indoor environment to be entered. .

[0111] The decision control module includes an alignment control unit 301, a transparency calculation unit 302, and an optical flow generation unit 303.

[0112] The alignment control unit 301 calculates the rotation matrix and performs an inverse rotation transformation on the indoor map data, so that the indoor entrance path vector in the navigation screen coordinate system is aligned correctly. The display direction is visually aligned with the user's line of sight or the angle between them is within a preset range to eliminate the cognitive burden of reference frame conversion.

[0113] The transparency calculation unit 302 is based on the user's distance from the entrance. The rendering transparency of the building walls surrounding the entrance is dynamically calculated using a decay function. And based on the rendering transparency Perform rendering. When rendering transparency... When the value is less than the preset value, the solid wall rendering will be switched to wireframe mode.

[0114] The optical flow generation unit 303 disables instantaneous transitions the instant the map data source switches from outdoors to indoors, and the system bases the transition on the current travel speed. Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual optical flow.

[0115] The rendering engine 4 is used to perform graphics transformations and rendering.

[0116] The display terminal is used to display the navigation interface.

[0117] Example 10:

[0118] A computer-readable storage medium storing a computer program that, when executed by a processor, performs the method described in any one of embodiments 1 to 8.

[0119] Example 11:

[0120] This invention proposes an adaptive navigation information processing method for indoor-outdoor transition scenarios. This method dynamically reconstructs the display logic of the navigation interface by sensing the user's travel status and environmental characteristics.

[0121] 1. Method and process.

[0122] like Figure 1 As shown, the method of the present invention includes the following steps:

[0123] Step S101: Collect user positioning and inertial data. The system obtains the user's geographic location coordinates in real time through the positioning unit (101) built into the mobile terminal. Simultaneously, the user's real-time travel speed is collected through the inertial measurement unit (102). and direction vector The system continuously monitors the distance between the user's location and pre-stored indoor / outdoor transition nodes (such as building entrances). .

[0124] Step S102: Calculate the environmental structure feature difference degree. When a user is detected entering the conversion buffer (i.e., When the value is less than the preset threshold, the scenario analysis module (2) calculates the structural feature difference between the current outdoor environment and the indoor environment to be entered. The differences mainly include:

[0125] Differences in boundary closure: Quantifying the degree of change in perspective from open to closed;

[0126] Route dimension differences: Determine if there are changes in elevation (such as steps, slopes);

[0127] Path direction angle : Calculate the geometric angle between the outdoor travel vector and the indoor entrance path vector.

[0128] Step S103: Assess the user's mental navigation ability. The system reads the user's historical navigation behavior data and calculates the user's mental navigation ability index. .like If the user's spatial ability falls below a preset threshold, the user is identified as a "user with weak spatial ability" and a strong assistance strategy needs to be activated.

[0129] Step S104: Generate adaptive visual control instructions. Decision control module (3) determines the control instructions based on the degree of difference. and ability index Generate adaptive visual control commands:

[0130] Execute the path direction calibration algorithm: calculate the rotation matrix, perform an inverse rotation transformation on the indoor map data, so that the indoor entrance path vector in the navigation screen coordinate system is aligned correctly. The display orientation is visually aligned with the user's line of sight or the angle between them is within a preset small range (e.g., within ±5 degrees) to eliminate the cognitive burden of reference frame conversion.

[0131] Perform transparent rendering of obscuring objects: based on the user's distance from the entrance. The rendering transparency of the building walls surrounding the entrance is dynamically calculated using a preset decay function. As the user approaches, The value gradually decreases, or the solid wall rendering is switched to wireframe mode.

[0132] Generate continuous optical flow transition frames: Disable instantaneous transitions at the moment the map data source switches from outdoors to indoors. The system is based on the current travel speed. Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual optical flow.

[0133] Step S105: Render and output the navigation view. The rendering engine (4) performs rendering according to the above instructions and outputs the screen through the display terminal (5).

[0134] 2. System architecture.

[0135] like Figure 2 As shown, the present invention also provides a navigation information processing system, comprising:

[0136] 1. Data acquisition module: includes a positioning unit (101) and an inertial measurement unit (102), used to acquire user status data.

[0137] 2. Context Analysis Module: Contains a feature extraction unit (201) and a difference calculation unit (202), used for calculation. .

[0138] 3. Decision control module: includes an alignment control unit (301), a transparency calculation unit (302), and an optical flow generation unit (303), used to generate control commands.

[0139] 4. Rendering engine: Used to perform graphics transformations and rendering.

[0140] 5. Display terminal: Used to display the navigation interface.

Claims

1. An adaptive navigation information control method for indoor-outdoor transition scenarios, characterized in that: Includes the following steps: Step 1) Collect user's geographic location coordinates and inertial data in real time; Step 2) Calculate the distance between the user's geographic location coordinates and the pre-stored indoor / outdoor conversion nodes. When the distance If the value is less than the preset threshold, proceed to step 3; otherwise, return to step 1. Step 3) Use the scenario analysis module (2) to calculate the structural feature difference between the current outdoor environment and the indoor environment to be entered. The calculation formula is as follows: Step 4) Calculate the user's psychological rotation ability index based on the user's historical navigation behavior data. Step 5) Based on the decision control module (3) based on the degree of difference Determine the severity of environmental changes and combine them with the psychological rotation ability index. Generate adaptive visual control commands; Step 6) The rendering engine (4) performs rendering according to the adaptive view control instructions and outputs the screen through the display terminal (5).

2. The adaptive navigation information control method for indoor-outdoor transition scenarios according to claim 1, characterized in that: In step 1), the user's geographic location coordinates are obtained in real time through the positioning unit (101) built into the mobile terminal. .

3. The adaptive navigation information control method for indoor-outdoor transition scenarios according to claim 1, characterized in that: In step 1), user inertial data, including real-time travel speed, is collected by the inertial measurement unit (102) built into the mobile terminal. and direction vector .

4. The adaptive navigation information control method for indoor-outdoor transition scenarios according to claim 1, characterized in that: Structural feature difference The differences are determined by the degree of boundary closure, the degree of route dimension difference, and the angle of path direction. Decide; Structural feature difference As shown below: In the formula, The difference value represents the boundary closure. This represents the difference value along the route dimension. The angle between the path directions; , , These are the weighting coefficients for each feature.

5. The adaptive navigation information control method for indoor-outdoor transition scenarios according to claim 4, characterized in that: Path direction angle The geometric angle between the outdoor travel vector and the indoor entrance path vector; Boundary closure difference is used to quantify the degree of change in field of view from open to closed; Route dimension difference is used to quantify changes in elevation.

6. The adaptive navigation information control method for indoor-outdoor transition scenarios according to claim 1, characterized in that: The adaptive visual control commands include strong auxiliary visual control commands and regular visual control commands; When the mental rotation ability index When the threshold is less than the preset capability index, the adaptive visual control command becomes the strong auxiliary visual control command. When the mental rotation ability index When the preset capability index is greater than or equal to the adaptive visual control index, the adaptive visual control command is the regular visual control command. Mental Rotation Ability Index As shown below: In the formula, This represents the average number of times a user hesitates when passing transition nodes in the historical navigation. This represents the average time a user spends navigating through transition nodes in the historical navigation. and These are the preset reference values ​​for the number of hesitations and the standard time reference values, respectively. , These are the weighting coefficients, and .

7. The adaptive navigation information control method for indoor-outdoor transition scenarios according to claim 6, characterized in that, The rendering engine (4) performs rendering according to the strong auxiliary view control instructions, and the rendering includes the following steps performed in sequence: Step S1) Calculate the rotation matrix The indoor map data is subjected to an inverse rotation transformation so that the indoor entrance path vector in the navigation screen coordinate system is... The display direction is visually aligned with the user's line of sight or the angle between them is within a preset range to eliminate the cognitive burden of reference frame conversion; The rotation matrix The calculation formula is as follows: In the formula, Outdoor travel direction vector With indoor entrance path vector The included angle; Step S2) Based on the user's distance from the entry point The rendering transparency of the building walls surrounding the entrance is dynamically calculated using a decay function. And based on the rendering transparency Render; when rendering transparency When the value is less than the preset value, the solid wall rendering will be switched to wireframe mode; The rendering transparency The calculation formula is as follows: In the formula, The user's current distance. To set the initial transparency distance threshold, To achieve complete transparency, the distance threshold is... This is the preset minimum transparency value; Step S3) At the instant the map data source switches from outdoors to indoors, disable instantaneous transitions; the system bases the transition on the current travel speed. Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual optical flow.

8. The adaptive navigation information control method for indoor-outdoor transition scenarios according to claim 6, characterized in that: The rendering engine (4) performs the following steps for rendering according to the regular view control instructions: Preserve the original coordinate orientation and material properties of the indoor map data; Disable instantaneous transitions when the map data source switches from outdoor to indoor. The system is based on the current travel speed Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual optical flow.

9. An adaptive navigation information control system applying the method of any one of claims 1-8, characterized in that: It includes a data acquisition module, a context analysis module, a decision control module, a rendering engine (4), and a display terminal; The data acquisition module includes a positioning unit (101) and an inertial measurement unit (102); The positioning unit (101) and the inertial measurement unit (102) respectively collect the user's geographical location coordinates and inertial data; The context analysis module includes a feature extraction unit (201) and a difference calculation unit (202); The feature extraction unit (201) is used to extract features of the current outdoor environment and the indoor environment to be entered, including the difference in boundary closure, the difference in route dimension, and the angle of the path direction. The difference calculation unit (202) is used to calculate the structural feature difference between the current outdoor environment and the indoor environment to be entered. ; The decision control module includes an alignment control unit (301), a transparency calculation unit (302), and an optical flow generation unit (303). The alignment control unit (301) calculates the rotation matrix and performs an inverse rotation transformation on the indoor map data, so that the indoor entrance path vector in the navigation screen coordinate system is aligned. The display direction is visually aligned with the user's line of sight or the angle between them is within a preset range to eliminate the cognitive burden of reference frame conversion; The transparency calculation unit (302) is based on the user's distance from the entrance. The rendering transparency of the building walls surrounding the entrance is dynamically calculated using a decay function. And based on the rendering transparency Render; when rendering transparency When the value is less than the preset value, the solid wall rendering will be switched to wireframe mode; The optical flow generation unit (303) disables instantaneous transitions the instant the map data source switches from outdoors to indoors, and the system bases the transition on the current travel speed. Between the last frame of the outdoor view and the first frame of the indoor view, several transitional image sequences are generated using an image interpolation algorithm to construct a continuous forward visual light flow. The rendering engine (4) is used to perform graphics transformation and rendering; The display terminal is used to display the navigation interface.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the method described in any one of claims 1 to 8.

Images