NAVDRIFT-0
ISRO SIH 2026 · PS #26168 · IDR System
NOMINAL
GNSS LOCKED
SIMULATION PS #26168
⚙
NavIC Constellation
7 SAT LOCKED
MET 00:00:00
Controls
IDR System Modules
PS #26168
CAL ENG
VIB FILT
NHC
MAP MATCH
EKF/UKF
SNAP
ODO·AI
MAG/AHRS
DRIFT-FORMER · INT8/INT4 ONNX · 20ms CPU · 9-ch (baro+mag)
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
AI ODO SPEED (IMU-ONLY) NO OBD-II
WHEEL ODO
— km/h
AI IMU EST
— km/h
MAG heading —°
AHRS confidence —%
Non-Holonomic Constraints
Lateral vel
0.00
Vertical vel
0.00
Corrections 0
Error removed 0.00 m
Event Timeline
0 steps
■ GNSS ■ Blackout ■ Tunnel ■ SNAP
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
EKF Baseline ATE—m
Uncertainty σ—m
Inference latency—ms
Steps / Outages0 / 0
DRIFTFormer Attention
50-frame window
t-50 peak: — t-0
NavIC Signal
NavIC L5 / S-Band
7 Satellites locked
Live Signals
Pos Error—
Uncert σ—
Speed—
Baro Alt—
9th ch—
Live Algorithm Race
lower=better
NAVDRIFT
—
EKF
—
RAW IMU
—
ISRO PS #26168 Compliance
✓ PASS
50m blackout drift 3.19 m ✓
1km tunnel ATE 78.41 m ✓
Inference latency 20 ms ✓
GNSS+INS Fusion
NavDrift
—
EKF
—
Raw IMU
low
Inference Engine
Model: DRIFT-Former INT8 ONNX (14MB)
Runtime: ONNX Runtime 1.17 · CPU
Mode: Simulation (set API URL to go live)
TRANSFORMER LAYERS · 4×8-HEAD · d=128
📡
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/UKF · SNAP · ODO·AI · 10Hz
📍
POSITION OUTPUT
SE(2) + Covariance · 10Hz