Trilateration with 4 beacons?

Indoor Location
1

Hello there, I have been looking for a trilateration algorithm for my school thesis considering having and I use Estimote beacons.
My undestanding is that for trilateration you need 3 beacons. However your Indoor Location App is working with 4+ beacons I am a bit confused. Do you trilaterate with the 4 beacons at the same time? How? Or do you use a trilateration of 3 beacons having the 4th beacon measurement to somehow correct the final result?

Could you explain which mathematical formulas do you use? Thank you for your response.

2

I’m afraid we can’t share the math behind Indoor Location. There’s plenty of trilateration examples on the Internet though, if you need a starting point for your thesis.

3

I can share with you some code that I used to trilateration using any number of points, this would be just sample code used with my permission.