I have 10 points on a 2D plane where I know the $(x,y)$ coordinates of 9 of the points. For 1 point, $p$, I do not know its location. Additionally, I have the distances from each of the known 9 points to $p$. How can I find the position of the unknown point, $p$?
Bonus: The distances to p from each of the 9 points is imprecise. How can I find the optimal point location given that there may be imprecision is the distances to p.
Thanks in advance for the help.