This post shows how it is possible to find the position of an object in space, using a technique called **trilateration**. The traditional approach to this problem relies on three measurements only. This tutorial addresses how to it is possible to take into account more measurements to improve the precision of the final result. This algorithm is robust and can work even with inaccurate measurements.

- Introduction
- Part 1. Geometrical Interpretation
- Part 2. Mathematical Interpretation
- Part 3. Optimisation Algorithm
- Part 4. Additional Considerations
- Conclusion

If you are unfamiliar with the concepts of latitude and longitude, I suggest you read the first post in this series: Understanding Geographical Coordinates.