利用扩展卡尔曼滤波器对已知环境地图进行估计，得出估计位置，并给出了真实轨迹-Using extended Kalman filter to estimate the known environment map, draw the estimated location, and provides true trajectory

按UTM投影（或高斯投影）方式，将星下点轨迹图投影到地图坐标上 -By UTM projection (or Gaussian projection) mode, the ground track diagram projected onto the map coordinates

引用谷歌地图API，通过调取手机端发过来的经纬度坐标，实时的在地图上做轨迹划线-draw lines according to the datas accpeted mobile and display it on the gooole map