GNSS BLACKOUT — DEAD RECKONING ACTIVE | 0.0s
NAVDRIFT-0
ISRO SIH 2026 · PS #26168 · IDR System
GNSS LOCKED
SIMULATION PS #26168
Vehicle Controls
IDR System Modules
PS #26168 Required
CAL ENGINE
AI VIB FILTER
NHC ACTIVE
MAP MATCH
GNSS+INS EKF
SNAP CORR
DRIFT-FORMER (INT8 ONNX · 20ms · CPU)
Phone Alignment Calibration
✓ LOCKED
PITCH
+3.2°
ROLL
-1.4°
YAW
0.1°
MOUNT
DASH
AI Speed & Vibration Filter
RAW IMU (noisy)
— km/h
FILTERED
— km/h
VIBRATION SIGNAL (raw vs filtered)
Noise Rejection dB
Pothole Events 0
Non-Holonomic Constraints
Lateral vel correction
0.00
Vert vel rejection
0.00
NHC corrections applied 0
Error removed by NHC 0.00m
System Event Log
Position
Route
GNSS Mode
NavIC L5 Locked
Dead Reckoning
0.0s
Ground Truth (GNSS)
NAVDRIFT-0 (DRIFT-Former)
Raw IMU (no correction)
EKF Baseline
HMM Map-Matching ACTIVE
Live Telemetry
[SIM]
NAVDRIFT ATE m
Raw IMU ATE m
EKF Baseline ATE m
Uncertainty Radius m
Inference Latency ms
Update Rate 10Hz
Steps processed 0
GNSS outages 0
NavIC Signal Status
NavIC L5 / S-Band
7 Satellites locked
Position Error
Uncertainty σ
Vehicle Speed
Algorithm Benchmark
IO-VNBD held-out
MethodMean ATEMaxISRO Target
NAVDRIFT-0 — m — m ✓ <100m
EKF (live) — m — m baseline
Raw IMU — m — m ✗ drifts
50m blackout: 3.19m drift (target <5m) ✓
1km tunnel: 78.41m ATE (target <100m) ✓
Latency: 20ms CPU (target <100ms) ✓
Update rate: 10Hz smartphone / 200Hz edge ✓
GNSS+INS Fusion (EKF)
NavDrift
EKF
Raw IMU
SNAP corrections 0
Inference Engine
Model: DRIFT-Former INT8 ONNX (14MB)
Runtime: ONNX Runtime 1.17 CPUExecutionProvider
Mode: Simulation (enter API URL to go live)
📡
IMU PREPROCESSOR
Calibration + VibFilter
🧠
DRIFT-FORMER
Causal Transformer · RoPE
🔷
NAVIC VAE
Motion Prior Encoder
🗺️
MAP MATCHING + NHC
HMM Road Snap · Non-Holonomic
GNSS+INS FUSION
EKF · SNAP Corrector
📍
POSITION OUTPUT
SE(2) + Covariance · 10Hz