@article{Navidi1998StatisticalMI,
title={Statistical methods in surveying by trilateration},
author={W. Navidi and W. S. Murphy and W. Hereman},
journal={Computational Statistics & Data Analysis},
year={1998},
volume={27},
pages={209-227}
}

Abstract Trilateration techniques use distance measurements to survey the spatial coordinates of unknown positions. In practice, distances are measured with error, and statistical methods can quantify the uncertainty in the estimate of the unknown location. Three methods for estimating the three-dimensional position of a point via trilateration are presented: a linear least-squares estimator, an iteratively reweighted least-squares estimator, and a non-linear least-squares technique. In generalâ€¦Â Expand