HI,
I presume you mean that you are on WhatsApp and click an entry
and it opens Google maps, but you want to open your app.
First WhatsApp is issuing the intent,
if it specifically sends the intent to Google maps
(package com.google.android.apps.maps) then you probably can't intercept it.
If it issues a view action with geo data
then you may be able to be eligible to receive it
(need correct build.json settings, translated by the builder to the correct manifest settings)
Finally you need a function OnData to receive the geo data.