LAST PLT; BRIEFING THE NEW OWNER; PENETRATE R-2515 IN VICINITY OF PMD; BASING NAV ON INVALIDATED GPS; WHILE ENRTE TO FAT.

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WE DEPARTED BERMUDA DUNES ARPT (UDD) AT XA00AM LCL. WE CONTACTED PSP TRSA FOR RADAR SVCS. THEY TERMINATED SVCS WHEN WE WERE W OF THEIR AREA AND OUT OF RANGE. WE SET DIRECT FAT IN THE GPS. SINCE I HAVE FLOWN THE RTE MANY; MANY TIMES AND ALWAYS FLY DIRECT PALMDALE VOR TO FRESNO; I COMPLETELY FORGOT ABOUT RESTR AIRSPACE R-2515 AS I'VE NEVER FLOWN THAT FAR E. MY CO-PLT HAD THE SECTIONAL IN HIS LAP; BUT BECAUSE I WAS TEACHING HIM ABOUT THE AIRPLANE AND GPS; NEITHER ONE OF US LOOKED AT THE SECTIONAL AND NOTICED THE RESTR AIRSPACE. OUR COURSE TOOK US RIGHT OVER EDW AT 8500 FT. WE NOTICED WHERE WE WERE AS SOON AS WE APCHED THE ARPT. I IMMEDIATELY TURNED W AND WAS OUT OF THE AIRSPACE IN 1 MIN. CONTRIBUTING FACTOR WAS HDG BUG OFF BY 10 DEGS TO THE L AS PLANE JUST CAME OUT OF AVIONICS SHOP; AND GPS DID NOT GIVE US AIRSPACE ALERT; WHICH IT HAS ALWAYS DONE. WE DID NOT FLT PLAN AROUND THE R-2515 BECAUSE WE HAD NO INTENTION OF BEING THAT FAR E. WE WERE ABLE TO CLB OVER MOUNTAINS SOONER THAN EXPECTED AND SIMPLY SELECTED DIRECT FRESNO TO SAVE TIME. WE THOUGHT WE WOULD BE CLR; BUT WE WERE NOT. WE WERE HORRIFIED AT OUR ERROR SINCE WE ARE BOTH FLT INSTRUCTORS. WE WERE SO BUSY WORKING ON THE AIRPLANE THAT WE DIDN'T DOUBLECHK OUR NAV. WE HAD SEEN THE MOA ON PREFLT; BUT DIDN'T THINK WE WOULD BE IN RESTR AREA. WE WILL BOTH BE EXTRA VIGILANT. NEITHER ONE OF US HAS EVER VIOLATED SUA IN OVER 1500 HRS FLYING EACH. THERE WAS NO TFC; NO ACTIVITY THAT WE NOTICED; AND WHEN WE CONTACTED FAT APCH TO LAND; WE FLEW INTO FAT WITHOUT INCIDENT. WE HAD GONE TO GREAT LENGTHS ON THE FLT TO UDD THE PREVIOUS DAY TO FLY AROUND A TFR. WE PUT THE WAYPOINTS IN GPS; MARKED IT ON SECTIONAL; ETC. IF WE HAD RADAR SVCS WITH JOSHUA APCH; THEY WOULD HAVE WARNED US AWAY AS WE DRIFTED INTO R-2515. BECAUSE RADAR SVC IS POOR IN THAT AREA; WE ELECTED NOT TO GET SVCS UNTIL FURTHER N.