A method for interpolating a missing value of the present invention comprises the steps of: collecting, by a data processing unit, a data set obtained by selecting an intact whole signal without a missing part from among a plurality of unit signals configuring a sensor signal; training, by a training unit, an interpolation network for interpolating a missing part in a missing signal having the missing part, wherein at least a part of a sensor signal is missing, by using the data set; receiving, by an interpolation unit, an input of the missing signal in which at least a part of the sensor signal is missing; and generating, by the interpolation unit, an interpolation signal by interpolating the missing part by using the interpolation network.