I've been trying to find the distance $d$ in this system where I only can know the distances $a0, a1, b0, b1, c0, c1$ but not the position of $A, B, C, P0, P1$. I tried 2D trilateration using nonlinear least squares method but I'm not being able to solve it.
Is it possible to solve it? If it is, how can I do that?
Thanks in advance!