Trilateration equation

I am making a project using ibeacons to make an IPS (indoor positioning system), what I am doing is placing 3 ibeacons in my house and through an Arduino UNO and HM-10 I am finding the distance to each ibeacon, so far I know what to do, but then when I get to the part of actually doing the trilateration, all the formulas confuse me. Could someone please explain the trilateration formula and what each part of the formula does. Just one last thing, I already know that ibeacons are not the best at finding location inside but it is all I have and I can't afford to change to some other way. What I need help on is the trilateration equation

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