An operation method of a navigation apparatus, comprised in a target device and wherein the target device further comprises a velocity sensor configured to measure a velocity, and a steering sensor configured to measure a yaw rate, the operation method comprising: determining whether valid global positioning system, "GPS", data is obtained at a current time point corresponding to a current position of a target device, comprising: obtaining GPS data, determining a GPS-based velocity and a GPS-based yaw based on the obtained GPS data, obtaining a sensor-based velocity and a sensor-based yaw; and determining validity of the GPS data based on a result of comparing the GPS-based velocity with the sensor-based velocity and on a result of comparing the GPS-based yaw rate with the sensor-based yaw rate; in response to determining that valid GPS data is obtained: determining first neighboring map elements corresponding to a first region indicated by the GPS data at the current time point from among a plurality of map elements of map data; and determining a pose parameter of the target device at the current time point based on a first direction, comprising: identifying a direction of each of the first neighboring map elements by performing line fitting with a plurality of points that is included in each of the first neighboring map elements, each point from the plurality of points corresponding to a three-dimensional, "3D", position; determining a GPS-based yaw based on the valid GPS data at the current time point and a position of the target device at a previous time point; extracting a sample from the first neighboring map elements by comparing a map-based yaw corresponding to each of the first neighboring map elements to the determined GPS-based yaw; and identifying the first direction by using the extracted sample. determining whether valid global positioning system, "GPS", data is obtained at a current time point corresponding to a current position of a target device, comprising: obtaining GPS data, determining a GPS-based velocity and a GPS-based yaw based on the obtained GPS data, obtaining a sensor-based velocity and a sensor-based yaw; and determining validity of the GPS data based on a result of comparing the GPS-based velocity with the sensor-based velocity and on a result of comparing the GPS-based yaw rate with the sensor-based yaw rate; obtaining GPS data, determining a GPS-based velocity and a GPS-based yaw based on the obtained GPS data, obtaining a sensor-based velocity and a sensor-based yaw; and determining validity of the GPS data based on a result of comparing the GPS-based velocity with the sensor-based velocity and on a result of comparing the GPS-based yaw rate with the sensor-based yaw rate; in response to determining that valid GPS data is obtained: determining first neighboring map elements corresponding to a first region indicated by the GPS data at the current time point from among a plurality of map elements of map data; and determining a pose parameter of the target device at the current time point based on a first direction, comprising: identifying a direction of each of the first neighboring map elements by performing line fitting with a plurality of points that is included in each of the first neighboring map elements, each point from the plurality of points corresponding to a three-dimensional, "3D", position; determining a GPS-based yaw based on the valid GPS data at the current time point and a position of the target device at a previous time point; extracting a sample from the first neighboring map elements by comparing a map-based yaw corresponding to each of the first neighboring map elements to the determined GPS-based yaw; and identifying the first direction by using the extracted sample. determining first neighboring map elements corresponding to a first region indicated by the GPS data at the current time point from among a plurality of map elements of map data; and determining a pose parameter of the target device at the current time point based on a first direction, comprising: identifying a direction of each of the first neighboring map elements by performing line fitting with a plurality of points that is included in each of the first neighboring map elements, each point from the plurality of points corresponding to a three-dimensional, "3D", position; determining a GPS-based yaw based on the valid GPS data at the current time point and a position of the target device at a previous time point; extracting a sample from the first neighboring map elements by comparing a map-based yaw corresponding to each of the first neighboring map elements to the determined GPS-based yaw; and identifying the first direction by using the extracted sample. identifying a direction of each of the first neighboring map elements by performing line fitting with a plurality of points that is included in each of the first neighboring map elements, each point from the plurality of points corresponding to a three-dimensional, "3D", position; determining a GPS-based yaw based on the valid GPS data at the current time point and a position of the target device at a previous time point; extracting a sample from the first neighboring map elements by comparing a map-based yaw corresponding to each of the first neighboring map elements to the determined GPS-based yaw; and identifying the first direction by using the extracted sample.