# P1 , P2 , P3 are array ex = (P2 - P1)/(numpy.linalg.norm(P2 - P1)) i = dot(ex, P3 - P1) ey = (P3 - P1 - i*ex)/(numpy.linalg.norm(P3 - P1 - i*ex)) ez = numpy.cross(ex,ey) d = numpy.linalg.norm(P2 - P1) j = dot(ey, P3 - P1) #triPt is an array with ECEF x,y,z of trilateration point triPt = P1 + x*ex + y*ey + z*ez
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