As s the name suggests, trilateration technique uses three RTT values to estimate the coordinates of target node. In trilateration technique, when several landmarks ping the specified target, three landmarks with smallest RTT values (probably nearest located landmarks) are selected.The algorithm then tries to estimate the location on the basis of overlapping region of the drawn circles around these selected landmarks. Figure 1 depicts this technique. In trilateration technique, the center of the overlapping region is considered as the location of the target node.
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The performance of trilateration has improved dramatically as shown in Figure 3. The spreadsheet can be found here.
Figure 3
Figure 4 shows the histograms of the 2 frequency distributions:
