Installation:
1. Download the SQF file "QS_icons.sqf".
2. Copy it to your mission file.
3. Configure script to your liking (inside the file).
4. Ensure it is executed by the mission.
In client/player init (initPlayerLocal.sqf)
[] execVM "QS_icons.sqf";
or
[] execVM "scripts\QS_icons.sqf"; (if in a folder called scripts in your mission directory.)
Follow instructions posted in the below link
http://forums.bistudio.com/showthread.php?184108-Soldier-Tracker-(-Map-and-GPS-Icons-)
5. Run mission!