[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) |