title: Trilateration and locating the point (x,y,z)
body: <p>I want to find the coordinate of an unknown node which lie somewhere in the space which has its reference distance away from 3 or more nodes which all of them have known coordinate.</p>
  
  <p>This problem is exactly like Trilateration as described here <a href="http://en.wikipedia.org/wiki/Trilateration">Trilateration</a>. </p>
  
  <p>However, I don't understand the part about "Preliminary and final computations" (refer to the wikipedia site). I don't get where I could find P1, P2 and P3 just so I can put to those equation?</p>
  
  <p>Thanks</p>