Pande , Simeon, and Kwame S Ibwe. “Robust Trilateration Based Algorithm for Indoor Positioning Systems”. Tanzania Journal of Science 47, no. 3 (August 31, 2021): 1195–1210. Accessed May 5, 2024. http://www.tjs.udsm.ac.tz/index.php/tjs/article/view/781.