The accuracy of vehicle location by trilateration in a dense urban environment
Harold Staras, S.N. Honickman · IEEE Transactions on Vehicular Technology · 1972
A set of linear formulas are derived for estimating the most probable location of a vehicle in a metropolitan area by trilateration techniques, given that multipath introduces errors in range measurements. These formulas are applied to a phase-ranging system (although they are also applicable to pulse-ranging systems), and the results obtained suggest that the probability of large location errors may be too high for many applications of interest.