[Figure|http://en.wikipedia.org/wiki/File:3spheres.jpg]
!3circles.png|border=1!
P1=1st Landmark position (latitude, longitude)
P2=2nd Landmark position (latitude, longitude)
P3=3rd Landmark position (latitude, longitude)
d1= distance from 1st Landmark to target (Calculated using distance=(MinRTT/2)*alpha)
d2=distance from 2nd Landmark to target (Calculated using distance=(MinRTT/2)*alpha)
d3=distance from 3rd Landmark to target (Calculated using distance=(MinRTT/2)*alpha)
i1=P1.x,
i2=P2.x,
i3=P3.x
j1=P1.y,
j2=P2.y,
j3=P3.y
x=target x coordinate
y=target y coordinate
Using Equation for circles and solving the above figure
x = { ( ?( (d1^2-d2^2)+(i2^2-i1^2)+(j2^2-j1^2) ) * (2*j3-2*j2) - ( (d2^2-d3^2)+(i3^2-i2^2)+(j3^2-j2^2) ) *(2*j2-2*j1))/ ( (2*i2-2*i3)*(2*j2-2*j1)-(2*i1-2*i2)*(2*j3-2*j2) ) }
\\\\
(((2*j3-2*j2)*((d1*d1-d2*d2)+(i2*i2-i1*i1)+(j2*j2-j1*j1)) - (2*j2-2*j1)*((d2*d2-d3*d3)+(i3*i3-i2*i2)+(j3*j3-j2*j2)))/
((2*i2-2*i3)*(2*j2-2*j1)-(2*i1-2*i2)*(2*j3-2*j2)));
y = \[ (d1^2-d2^2) + (i2^2-i1^2) + (j2^2-j1^2) + x*(2*i1-2*i2)\] / (2*j2-2*j1)
x,y are the required coordinates of a Point (Target) |