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A node contained determined distances from itself to other three nodes s1, s2 and s3. The other nodes are defined as S1 = (ax, ay). S2= (bx, by). S3= (Cx, Cy). The distances from node N to each of the three nodes is r1 and r2. The Trilateration problem is to find the coordinates of the unknown node N= (nx, ny) from the given information.
A complicating factor is that the unknown node coordinates are moving and the measurements contain measurement features.
The intersection of surfaces in a sphere can be found by formulating equations of the three spheres and then solving for the unknowns in the x, y and z planes. ...