Hello, I'm an undergraduate electornics engineer. I'm trying to design a system where I am able to find my relative position in a room. Using electronics, I am able to find the angles between the corners of the room, as observed from the point. I also know the dimensions of the room. Using this information I should logically be able to find my position. I've been trying for the last 2 days to come up with an equation. However, everything I come up with is heavily linear dependant on each other; I'm going round in circles. The picture below better explains my problem: Has anyone any ideas on how I might find my relative position using the angles phi[1-4] and the dimensions of the room? Thanks in advance, Chris Adams.