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+{
+"cells": [
+ {
+		   "cell_type": "markdown",
+	   "metadata": {},
+	   "source": [
+       "# Chapter 3: Trilateration"
+	   ]
+	},
+{
+		   "cell_type": "markdown",
+		   "metadata": {},
+		   "source": [
+			"## Example 3.1: 4.sce"
+		   ]
+		  },
+  {
+"cell_type": "code",
+	   "execution_count": null,
+	   "metadata": {
+	    "collapsed": true
+	   },
+	   "outputs": [],
+"source": [
+"\n",
+"clc; funcprot(0);\n",
+"// Initialization of Variable\n",
+"AB=25145.32;//distance in m\n",
+"R=6370.0e3;//radius of earth in m\n",
+"ha=325.14;//elevation in m\n",
+"//calculation\n",
+"theta=AB*cos(3+9.0/60+40.0/3600)/R;\n",
+"AB_dash=AB/sin(%pi/2+theta/2)*sin(%pi/2-theta/2-(3+9.0/60+40.0/3600)*%pi/180);\n",
+"CD=AB_dash-AB_dash*ha/R;\n",
+"S=CD+CD**3/24.0/R**2;\n",
+"disp(S,'sea level length in m')\n",
+"clear()\n",
+"disp('answer varies slightly due to round off error')"
+   ]
+   }
+,
+{
+		   "cell_type": "markdown",
+		   "metadata": {},
+		   "source": [
+			"## Example 3.2: 5.sce"
+		   ]
+		  },
+  {
+"cell_type": "code",
+	   "execution_count": null,
+	   "metadata": {
+	    "collapsed": true
+	   },
+	   "outputs": [],
+"source": [
+"\n",
+"clc; funcprot(0);\n",
+"// Initialization of Variable\n",
+"AB=31325.14//slope distance in m\n",
+"R=6370.0e3;//radius of earth\n",
+"ha=1582.15;//elevation in m\n",
+"h=4251.32-ha//in m\n",
+"//calculation\n",
+"AB_dash=AB-h**2/2/AB;\n",
+"theta=2*asin(AB_dash/2/R);\n",
+"AB_dash=AB-(h*sin(theta/2)+h**2/AB/2)\n",
+"CD=AB_dash-AB_dash*ha/R;\n",
+"S=CD+CD**3/24.0/R**2;\n",
+"disp(S,'sea level length in m')\n",
+"clear()"
+   ]
+   }
+,
+{
+		   "cell_type": "markdown",
+		   "metadata": {},
+		   "source": [
+			"## Example 3.3: 6.sce"
+		   ]
+		  },
+  {
+"cell_type": "code",
+	   "execution_count": null,
+	   "metadata": {
+	    "collapsed": true
+	   },
+	   "outputs": [],
+"source": [
+"\n",
+"clc; funcprot(0);\n",
+"// Initialization of Variable\n",
+"//alpha=A and beta=B and those are angles\n",
+"AB=1525.456;//distance in m\n",
+"BC=2176.945;//distance in m\n",
+"CD=1697.435;//distance in m\n",
+"AD=2401.435;//distance in m\n",
+"AC=3073.845;//distance in m\n",
+"BD=2483.115;//distance in m\n",
+"//calculation\n",
+"A1=acos((CD**2+AC**2-AD**2)/(2*CD*AC));\n",
+"A1=A1*180/%pi;\n",
+"A2=acos((AD**2+BD**2-AB**2)/(2*AD*BD));\n",
+"A2=A2*180/%pi;\n",
+"A3=acos((AB**2+AC**2-BC**2)/(2*AB*AC));\n",
+"A3=A3*180/%pi;\n",
+"A4=acos((BC**2+BD**2-CD**2)/(2*BC*BD));\n",
+"A4=A4*180/%pi;\n",
+"B1=acos((CD**2+BD**2-BC**2)/(2*CD*BD));\n",
+"B1=B1*180/%pi;\n",
+"B2=acos((AD**2+AC**2-CD**2)/(2*AD*AC));\n",
+"B2=B2*180/%pi;\n",
+"B3=acos((AB**2+BD**2-AD**2)/(2*AB*BD));\n",
+"B3=B3*180/%pi;\n",
+"B4=acos((AC**2+BC**2-AB**2)/(2*AC*BC));\n",
+"B4=B4*180/%pi;\n",
+"e1=360-A1-A2-A3-A4-B1-B2-B3-B4;//error\n",
+"e2=A1+B1-A3-B3;//error\n",
+"e3=A2+B2-A4-B4;//error\n",
+"//angle update\n",
+"A1=A1+e1/8-e2/4;\n",
+"A3=A3+e1/8+e2/4;\n",
+"B1=B1+e1/8-e2/4;\n",
+"B3=B3+e1/8+e2/4;\n",
+"A2=A2+e1/8-e3/4;\n",
+"B2=B2+e1/8-e3/4;\n",
+"A4=A4+e1/8+e3/4;\n",
+"B4=B4+e1/8+e3/4;\n",
+"//updating sides\n",
+"AD=1525.456*sin(B3*%pi/180)/sin(A2*%pi/180);\n",
+"disp('equation for B2 is wrong')\n",
+"disp(AD,'corrected length of AD in m')\n",
+"BD=1525.456*sin(A3*%pi/180+B2*%pi/180)/sin(A2*%pi/180);\n",
+"disp(BD,'corrected length of BD in m')\n",
+"AC=1525.456*sin(A4*%pi/180+B3*%pi/180)/sin(B4*%pi/180);\n",
+"disp(AC,'corrected length of AC in m')\n",
+"BC=1525.456*sin(A3*%pi/180)/sin(B4*%pi/180);\n",
+"disp(BC,'corrected length of BC in m')\n",
+"CD=BC*sin(A4*%pi/180)/sin(B1*%pi/180)\n",
+"disp(CD,'corrected length of CD in m')\n",
+"disp('answers differ slightly due to value of pi');\n",
+"//equation for B2 is wrong\n",
+"clear()"
+   ]
+   }
+,
+{
+		   "cell_type": "markdown",
+		   "metadata": {},
+		   "source": [
+			"## Example 3.4: 7.sce"
+		   ]
+		  },
+  {
+"cell_type": "code",
+	   "execution_count": null,
+	   "metadata": {
+	    "collapsed": true
+	   },
+	   "outputs": [],
+"source": [
+"\n",
+"clc; funcprot(0);\n",
+"// Initialization of Variable\n",
+"//angles found by cosine law\n",
+"//alpha=A and beta=B and those are angles\n",
+"A1=45.801596;//distance in m\n",
+"A2=40.605250;//distance in m\n",
+"A3=50.143258;//distance in m\n",
+"A4=43.077646;//distance in m\n",
+"B1=48.779868;//distance in m\n",
+"B2=44.141587;//distance in m\n",
+"B3=49.733152;//distance in m\n",
+"B4=37.737035;//distance in m\n",
+"//calculation\n",
+"e1=360-A1-A2-A3-A4-B1-B2-B3-B4;//error\n",
+"//angle update\n",
+"A1=A1+e1/8;\n",
+"A3=A3+e1/8;\n",
+"B1=B1+e1/8;\n",
+"B3=B3+e1/8;\n",
+"A2=A2+e1/8;\n",
+"B2=B2+e1/8;\n",
+"A4=A4+e1/8;\n",
+"B4=B4+e1/8;\n",
+"E2=(log(sin(A1*%pi/180))*log(sin(A2*%pi/180))*log(sin(A3*%pi/180))*log(sin(A4*%pi/180))-log(sin(B1*%pi/180))*log(sin(B2*%pi/180))*log(sin(B3*%pi/180))*log(sin(B4*%pi/180)))/log(10000);\n",
+"c3=E2/17.1;\n",
+"c4=E2/17.0;\n",
+"A1=A1-c3;\n",
+"disp(A1,'corrected angle A1 in degrees')\n",
+"B1=B1+c3;\n",
+"disp(B1,'corrected angle B1 in degrees')\n",
+"clear()"
+   ]
+   }
+],
+"metadata": {
+		  "kernelspec": {
+		   "display_name": "Scilab",
+		   "language": "scilab",
+		   "name": "scilab"
+		  },
+		  "language_info": {
+		   "file_extension": ".sce",
+		   "help_links": [
+			{
+			 "text": "MetaKernel Magics",
+			 "url": "https://github.com/calysto/metakernel/blob/master/metakernel/magics/README.md"
+			}
+		   ],
+		   "mimetype": "text/x-octave",
+		   "name": "scilab",
+		   "version": "0.7.1"
+		  }
+		 },
+		 "nbformat": 4,
+		 "nbformat_minor": 0
+}