Figure 1. The plane z = 0, showing the three sphere centers, P1, P2, and P3; their x,y-coordinates; and the three sphere radii, r1, r2, and r3.

Revisiting trilateration for robot localization
Revisiting trilateration for robot localization
Quality of Trilateration: Confidence-Based Iterative Localization
Quality of Trilateration: Confidence Based Iterative Localization
Quality of Trilateration: Confidence-Based Iterative Localization
Beyond trilateration: On the localizability of wireless ad-hoc networks
Beyond trilateration: on the localizability of wireless ad hoc networks
The interior-point method for an optimal treatment of bias in trilateration location
Efficient solution and performance analysis of 3-D position estimation by trilateration
The first measurement of a three-dimensional coordinate by use of a laser tracking interferometer system based on trilateration