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Hello, I want to use the least square method to optimize the distance between the rays emitted by the two lighthouse basestations in the "crossing beam" location method. Do you think it is feasible?

Hello, I have some questions about “crossing beam” location method. Why is this position method so stable In UAV position? What should be done when the positions of the four sensors on the deck are calculated, but one point is calculated far away from the other three points？