Map matching to a road network might be helpful here. For example, a Hidden Markov Model gives good results. See for instance this paper: "Hidden Markov map

Map matching to a road network might be helpful here. For example, a Hidden Markov Model gives good results. See for instance this paper: "Hidden Markov map matching through noise and sparseness" (2009) https://www.microsoft.com/en-us/research/wp-content/uploads/2016/12/map-matching-ACM-GIS-camera-ready.pdf https://www.microsoft.com/en-us/research/wp-content/uploads/...