NAVDRIFT-0
ISRO SIH 2026 · PS #26168 · IDR System
GNSS LOCKED
SIMULATION PS #26168
⚙
Controls
IDR System Modules
PS #26168
CAL ENG
VIB FILT
NHC
MAP MATCH
EKF FUSE
SNAP
DRIFT-FORMER · INT8/INT4 ONNX · 20ms CPU · 9-ch (baro)
Alignment & Vibration Filter
✓ LOCKED
PITCH
+3.2°
ROLL
-1.4°
YAW
0.1°
RAW IMU (noisy)
— km/h
AI FILTERED
— km/h
VIBRATION · raw (red) vs filtered (cyan)
Pothole events filtered 0
Non-Holonomic Constraints
Lateral vel
0.00
Vertical vel
0.00
Corrections 0
Error removed 0.00 m
Event Log
Position
—
Route
—
GNSS Mode
NavIC L5 Locked
DR Duration
0.0s
Ground Truth (GNSS)
NAVDRIFT-0 (DRIFT-Former)
Raw IMU (uncorrected)
EKF Baseline
HMM Map-Match ACTIVE
Live Telemetry
[SIM]
NAVDRIFT-0 ATE—m
Raw IMU ATE—m
EKF Baseline ATE—m
Uncertainty σ—m
Inference latency—ms
Update rate10Hz
Steps / Outages0 / 0
NavIC Signal
NavIC L5 / S-Band
7 Satellites locked
Position Error —
Uncertainty σ —
Speed —
Baro Altitude —
9th channel · tunnel detect —
Algorithm Benchmark
IO-VNBD held-out
MethodATEMaxTarget
NAVDRIFT-0——✓ <100m
EKF (live)——baseline
Raw IMU——✗ drifts
50m blackout: 3.19m drift (target <5m) ✓
1km tunnel: 78.41m ATE (target <100m) ✓
Latency INT8: 20ms CPU · INT4: ~5ms ✓
HMM map-match: Viterbi · σ=18m · λ=4
Baro: 9th channel · tunnel detect active
GNSS+INS Fusion
NavDrift
—
EKF
—
Raw IMU
low
SNAP corrections 0
HMM map corrections 0
Tunnels detected 0
Inference Engine
Model: DRIFT-Former INT8 ONNX (14MB)
Runtime: ONNX Runtime 1.17 · CPU
Mode: Simulation (set API URL to go live)
📡
IMU PREPROCESSOR
Calibration · VibFilter · Baro(9th)
🧠
DRIFT-FORMER
Causal Transformer · RoPE · INT8/4
🔷
NAVIC VAE
Motion Prior Encoder
🗺️
MAP MATCH + NHC
Viterbi HMM · Non-Holonomic
⚡
GNSS+INS FUSION
EKF · SNAP · WebSocket 10Hz
📍
POSITION OUTPUT
SE(2) + Covariance · 10Hz