algorithm - Triangulation in 3D Space -

Disclaimer: This is for the class, although I am fresh with ideas and washing with a nudge in the right direction would be very appreciated. In addition, it needs to be implemented in Raw C, so no fancy libraries can be used.

I have to write a search and rescue simulator for submarines, it will need to get an investigation that randomly is the "Ping", the only tool given to me in the grid from the 3D MAX_XYZ (100000) grid The amount of distance between a fixed sub and probe will be given. The goal is to optimize the costs of this entire operation, so a brutal force effort, like finding a coordination, will not work. That's why I was thinking the triangle.

Now, it makes loads of understanding to me, keep three subs, each one of them uses their pings so that the distance between them can be investigated. Since each sub has a known distance relative to one another, therefore it is easy to form the base of tetrahedron with them, and the results of the ping will indicate a certain coordinate, how to remove the height of the problem I am, or the height of the tetrahedron,

I have the following data as:

1. Distance between subs (in vector format)
2. angle between each SOS (count Easy to do)
3. The distance between each sub and probe (3 segments to the extreme from the base)
4. Angle tetrahedron within each of the outer 3 surfaces.

   I tried to find some kind of relationships with each of them in the corner of Tetrahedron and relative angles, although I found that the Tetrahedrons built with the equilateral triangle have to deal with, I do not help. I have the impression that it can be easily solved with a triangle or I am not seeing it or I need more coffee.

   Any suggestions would be appreciated!

   Since it is homework, I will give a suppression.

   Usually this is the subject.

   Multilateration is a navigation technique, which is transmitted to signals at known times based on the difference between the differences between two or more stations at known locations. Unlike the measure of absolute distance or angle, measuring the difference in the distance results in an infinite number of places that meet the measurement results. When these potential locations are plotted, they create hyperbolic curves, to find the exact location with that curve, a second measurement is taken to the stations of another pair for the second curve, which First intersects with

   The Wikipedia entry is discussed in detail in mathematics. / html>