I'm trying to work out the mathematics of this for a school project. Say you have 4 beacons arranged in a square (I think you only need 3, actually) at known positions relative to one another. Now say you are in a random position within this square, at a random height, and at a random orientation (yaw, pitch, and roll). If you know both the zenith and azimuth angle to each beacon, can you completely solve your 3D position and orientation? I believe that you can. It's setting up the equations that's taking me a while. If anyone can point me in the right direction, so to speak, I'd greatly appreciate it.