Insulation monitoring may be provided by a signal generation unit for applying a pulse signal to an electric line; a signal measurement unit for measuring the voltage of an applied pulse signal from the ground, when the pulse signal is applied to the ground through insulation resistance; an average voltage calculation unit for calculating the average voltage of the voltages measured during a period depending on sampling intervals; and a control unit for calculating the sampling intervals on the basis of an initial sampling interval and a preset time multiple, calculating the average voltage during the sampling period according to the calculated sampling intervals, and, according to whether the difference between calculated first and second average voltages measured before the first average voltage is within a first error range, detecting the first average voltage as a normal voltage, or calculating the sampling intervals by applying different time multiples thereto.