As I'm reading a paper a paper "An Underdetermined Linear System for GPS" By Dan Kalman
And solving an equation, and I don't know how to simplify the following equation:
$$ (5.41-.095t-1)^2+(5.41-.095t-2)^2+(3.67-.067t)^2=.047^2(t-19.9)^2$$
to this one
$$0.02t^2-1.88t+43.56=0$$