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Summary: with another, larger sphere. The spheres intersect in a perfect circle. If you know the distance to a third satellite, you get a third sphere, which intersects with this circle at two points. The Earth itself can act as a fourth sphere -- only one of the two possible points will actually be on the surface of the planet, so you can eliminate the one in space. Receivers generally
Image Dimensions: 400 x 266
Image originally found here.