This took me ages to work out. Once I had solved the equation (by a very indirect method), I could see a much quicker way to verify the answer.
[sp]Start with the fact (see
here) that $\cos105^\circ = -\frac{\sqrt3-1}{2\sqrt2}$. Using the fact that $\cos(3\theta) = 4c^3 - 3c$, where $c = \cos\theta$, it follows that the solutions of the equation $4c^3 - 3c = -\frac{\sqrt3-1}{2\sqrt2}$ are $c = \cos35^\circ$, $c = \cos155^\circ$ and $c = \cos275^\circ$.
Now let $x = 6\sqrt2c$. The equation $4c^3 - 3c = -\frac{\sqrt3-1}{2\sqrt2}$ becomes $$ 4\Bigl(\frac x{6\sqrt2}\Bigr)^3 - 3\Bigl(\frac x{6\sqrt2}\Bigr) = -\frac{\sqrt3-1}{2\sqrt2}.$$ Multiply through by $54$ to get $x^3 - 54x = -54(\sqrt3-1).$
Next, let $a = x-1$. The equation becomes $(a+1)^3 - 54(a+1) = -54(\sqrt3-1),$ or $a^3 +3a^2 + 3a + 1 - 54a - 54 + 54\sqrt3 - 54 = 0.$ That simplifies to the given equation $a^3+3a^2-51a-107+54\sqrt{3}=0$. Since $a = x-1 = 6\sqrt2c-1$, the solutions of the equation are $$ a = 6\sqrt2\cos35^\circ - 1, \quad 6\sqrt2\cos155^\circ - 1, \quad 6\sqrt2\cos275^\circ - 1.$$
[You can check that these lie in the numerical intervals given by Albert.][/sp]