📡 IO-VNBD Dataset Replay — Inertial & Odometry benchmark, ground-vehicle positioning · NAVDRIFT-0 inference on real sensor data
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
Ground Truth:
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)
Non-Holonomic Constraints
Lateral vel
0.00
Vertical vel
0.00
Corrections0
Error removed0.00 m
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 filtered0
WHEEL ODO
— km/h
AI IMU EST
— km/h
MAG heading—°
AHRS confidence—%
Event Timeline
0 steps
■ GNSS ■ Blackout ■ Tunnel ■ SNAP
Event Log
Position
Route
GNSS Mode
NavIC L5 Locked
DR Duration
0.0s
Ground Truth (RTK-GPS reference)
NAVDRIFT-0 · DRIFT-Former output
Raw IMU dead reckoning (no correction)
EKF baseline (classical filter)
HMM Map-Match ACTIVE
Live Telemetry
[SIM]
NAVDRIFT-0 ATEm
EKF Baseline ATEm
Uncertainty σm
Inference latencyms
Steps / Outages0 / 0
Live Drift Race
NOMINAL
NAVDRIFT
— m
EKF
— m
Raw IMU
— m
NAVDRIFT saves vs IMU 0.0 m
NavIC Signal
NavIC L5 / S-Band
7 Satellites locked
Live Signals
Pos Error
Uncert σ
Speed
Baro Alt
9th ch
DRIFTFormer Attention
50-frame window
t-50 peak: t-0
Live Algorithm Race
lower=better
NAVDRIFT
EKF
RAW IMU
Inference Engine
Model: DRIFT-Former INT8 ONNX (14MB)
Runtime: ONNX Runtime 1.17 · CPU
Mode: Simulation
TRANSFORMER LAYERS · 4×8-HEAD · d=128
ISRO PS #26168 Compliance
WARMING…
50m blackout drift— warming up
1km tunnel ATE— warming up
Inference latency— warming up
GNSS+INS Fusion
NavDrift
EKF
Raw IMU
low
Algorithm Benchmark
NAVDRIFT-0 ATEm
EKF Baseline ATEm
Raw IMU ATEm
Adaptive RL (Q/R tuning)
Process noise Q
Meas. noise R
Residual buf size
Sensor Fault Grid
Federated Learning
Round 0
Global ATEm
Fleet size12 vehicles
TDP ETA
Fleet Log
DRIFTFormer Attention
axayazgxgygzspdbaroΔh
Attention Heatmap (4 heads)
📡
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
🔧 IMU CALIBRATION WIZARD
Step 1 of 3 — Place device on a flat, stationary surface.
Hold still for 3 seconds to capture static bias.
Ax: Ay: Az: Gx: Gy: Gz: