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There are many ways to solve trilateration problem. This method is based on solving the equations of circle.The Figure below shows the 3 circles drawn from each of 3 landmarks to the target. r1, r2, r3 are the radius of circles.

Figure

P1=1st Landmark position in x,y coordinates

...

x,y are the required coordinates of a Point (Target)

Reference

http://en.wikipedia.org/wiki/Trilateration^{Image Added}

http://en.wikipedia.org/wiki/File:3spheres.jpg^{Image Added}