How to interpolate GPS navigator data in R?

Question

data mining

The task is this, there is a file with GPS navigator data (5 tracks, latitude, longitude, time, and a type of broken GPS and GPS that gives accurate information). The data of a broken GPS navigator is noisy (sparse and noisy), in R you need to interpolate or filter this data so that it describes the trajectory of the correct GPS coordinates as best as possible.
I am a beginner in this area, I am familiar with R superficially. I found information about the Kalman filter, but I don’t quite understand how to implement it.