Unfortunately there’s no way to do that with the systems iOS provides.
I just wrote up a bunch of detail on why over in this thread.
But the short version is: There’s essentially two separate systems, one that provides very low detail and very low energy consumption (used by Google Timeline), and the other which provides full detail but higher energy consumption (used by Arc). There’s nothing between the two.
Technically apps can use the high detail system but request location updates only when the device has moved a desired number of metres. But in practice that doesn’t offer any significant energy savings, so there’s not really any point in using it. If you’re using the high detail system, might as well make use of all the detail. Asking iOS to throw away some of that detail doesn’t really save you any battery, so it’s less detail for no reward.