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Figure
Unable to render embedded object: File (3circles.png) not found.
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 =

Unknown macro: { ( ?( (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)

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