Multilateration with 4 ref nodes
Input: 13 doubles: x,y coordinates of 4 reference nodes, fixed height of reference nodes, 4 distance estimates (one measured from each reference node)
Run: Executes the Multilateration equations
Return: Cartesian coordinate (x,y,z) for the unknown location.
Future: Extend for more than 4 reference nodes
compile with e.g. gcc command: gcc -g -o multilateration -ansi Multilateration.c -lm
run with e.g. command ./multilateration x1, y1, x2, y2, x3, y3, x4, y4, h, d1, d2, d3, d4 or with test input data