Abstract: An apparatus and method for measuring the speed of a moving object is provided. A first acceleration along the moving direction of the moving object and a second acceleration along the lateral direction of the moving object are measured. A first angular speed along the lateral direction of the moving object and a second angular speed along the lower direction of the moving object are measured. The roll angle of the moving object using the first acceleration, the second angular speed, and a previous speed of the moving object in the moving direction of the moving object, and a previous road inclination angle with respect to the moving direction of the moving object are calculated. A road inclination angle is calculated using the calculated roll angle, the first angular speed, and the second angular speed.

Abstract: Disclosed is a route guidance apparatus of a personal navigation terminal, which includes a road structure information storage unit for storing information related to road structures, a user preference information storage unit for storing at least one road structure preference representing a preference of a user for the road structures, and a controller for determining a current location of the personal navigation terminal, computing routes to a destination from the current location, and selecting a user-preferred route preferred by a user from among the routes based on the at least one road structure preference. In the route guidance apparatus, a personal navigation terminal displays routes based on user preferences reflecting user characteristics instead of simply displaying the shortest route, thereby causing a user to take a proper route according to one's own characteristics and degree of fatigue.