How to generate missing points in GPS trajectories?

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I have some GPS trajectories that include gps locations recorded on variable frequencies (every 1 min ,5 min , 20 min,etc.). In my work, i need a fine-grained GPS collection (e.g. 30 sec) to be able to recognize accurately users' activities grom their GPS traces.

I thought then to generate the missing GPS points. Could you suggest some mathematical estimation or an existing tool that can answer my issue?



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