Your map appears to have UTM coordinates listed. Those numbers are meters, so if your map has a kilometer scale you can measure your own 1 km gridlines using that scale to estimate coordinates of points on the map. UTM also has zones associated with it, which you will also need. The other thing that effects accuracy is reference datums, usually either NAD27, or WGS84 or such. These datums have different reference points. If you don't know which one your map or Google uses you could be off by something like 30 meters.
These pages might help: