Navigation apparatus and operation method of navigation apparatus

1. An operation method of a navigation apparatus connected to a target device, the operation method comprising:

obtaining a sensor-based position at a current time point that is calculated by applying dead reckoning (DR) to a previous position of the target device and corresponds to a current position of the target device, in response to global positioning system (GPS) data at the current time point corresponding to the current position of the target device being determined to be invalid;

determining neighboring map elements corresponding to a region indicated by the sensor-based position at the current timepoint from among a plurality of map elements; and

determining a pose parameter of the target device at the current time point based on a direction specified by at least a portion of the neighboring map elements,

wherein the determining of the pose parameter at the current time point based on the direction comprises:

determining a pitch and a roll in the pose parameter based on the direction; and

determining a yaw in the pose parameter by applying a yaw rate measured through a steering sensor of the target device to a yaw of the target device at a previous time point.

2. The operation method of claim 1 , wherein the determining of the pose parameter at the current time point based on the direction comprises identifying the direction by performing line fitting with a plurality of points that are included in the neighboring map elements.

3. The operation method of claim 1 , wherein the determining of the pose parameter at the current time point based on the direction comprises identifying the direction by applying a RANSAC algorithm to the neighboring map elements.

4. The operation method of claim 1 , wherein the determining of the pose parameter at the current time point based on the direction comprises determining the pose parameter by comparing a sensor-based yaw at the current time point and a map-based yaw corresponding to the direction, and

wherein the sensor-based yaw at the current time point is calculated by applying a yaw rate measured through a steering sensor of the target device to a yaw of the target device at a previous time point.

5. The operation method of claim 4 , wherein the pose parameter is determined to correspond to the direction, in response to a difference between the sensor-based yaw and the map-based yaw being less than a threshold value.

6. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the operation method of claim 1 .

7. A navigation apparatus mounted on a target device, comprising:

a processor configured to:

obtain a sensor-based position at a current time point that is calculated by applying dead reckoning (DR) to a previous position of the target device and corresponds to a current position of the target device, in response to global positioning system (GPS) data at the current time point corresponding to the current position of the target device being determined to be invalid;

determine neighboring map elements corresponding to a region indicated by the sensor-based position at the current timepoint from among a plurality of map elements; and

determine a pose parameter of the target device at the current time point based on another GPS data of the target device at a previous time point and a direction specified by at least a portion of the neighboring map elements,

wherein the processor is further configured to:

determine a pitch and a roll in the pose parameter based on the direction; and

determine a yaw in the pose parameter by applying a yaw rate measured through a steering sensor of the target device to a yaw of the target device at the previous time point.

8. The apparatus of claim 7 , wherein the processor is further configured to identify the direction by performing line fitting with a plurality of points that are included in the neighboring map elements and respectively correspond to 3D positions.

9. The apparatus of claim 7 , wherein the processor is further configured to identify the direction by applying a RANSAC algorithm to the neighboring map elements.

10. The apparatus of claim 7 , wherein the processor is further configured to determine the pose parameter by comparing a sensor-based yaw at the current time point and a map-based yaw corresponding to the direction, and

wherein the sensor-based yaw at the current time point is calculated by applying a yaw rate measured through a steering sensor of the target device to a yaw of the target device at a previous time point.

11. The apparatus of claim 10 , wherein the pose parameter is determined to correspond to the direction, in response to a difference between the sensor-based yaw and the map-based yaw being less than a threshold value.