Kalman Filter in Go

We need a Kalman filter developing in Go for a series of coordinates and times for some moving objects, these are aircraft usually in flight. This data is added to over time and so it should not be assumed that all data in the samples will be there straight away. This needs to be dynamic. There are no speed or velocity values so these will need to be derived. Altitude is also available should this be needed. Testing/verification should be able to show visually the actual Latitude & Longitude and all the predictions along the way. Expected algorithm/code will accept a Latitude, Longitude and Time for each moving object dynamically. The ability to query/obtain a current smoothed coordinate will also be necessary. Track lengths are expected to be thousands of points long so may need to be capped at a higher value, say the last 100 points. Sample file attached with some moving (non smoothed) objects. Also attached is a screenshot of one of the objects in the JSON file plotted on a map without any filtering. Sample project that processes the JSON per aircraft is also attached.