Wide area multilateration algorithms suffer from stability issues related to the fact that reference points are nearly coplanar. This paper presents a method add elevation angle measurements problem and thereby reduce error perpendicular plane where taken. The resulting measurement is significantly reduced for co- planar coplanar points.

In this paper, we give the definition for the voronoi diagram and its dual graph – Delaunay triangulation for 3D cuboids. We prove properties of the 3D Delaunay triangulation, and provide algorithms to construct and update the Delaunay triangulation. The Delaunay triangulation data structure is used to perform proximity searches for both static and kinetic cases. We describe experimental result...