function [p ,O ,Ep ] = Triangle(a)
syms x y ;
for k=1:3
A(1)=a(k,1); A(2)=a(k,2); dA=a(k,3);
B(1)=a(k,4); B(2)=a(k,5); dB=a(k,6);
C(1)=a(k,7); C(2)=a(k,8); dC=a(k,9);
O(1)=a(k,10);O(2)=a(k,11);
%距离方程,以信标节点为圆心,信标节点到未知节点的测量距离为半径作三个圆
f1 = (A(1)-x)^2+(A(2)-y)^2-dA^2;
f2 = (B(1)-x)^2+(B(2)-y)^2-dB^2;
f3 = (C(1)-x)^2+(C(2)-y)^2-dC^2;
%任两个方程联立,求任两圆交点
s1 = solve(f1,f2); %求A,B两圆的交点
s2 = solve(f2,f3); %求B,C两圆的交点
s3 = solve(f1,f3); %求A,C两圆的交点
%将结果(符号变量)转换为双精度数值
x1 = double(s1.x);
y1 = double(s1.y);
x2 = double(s2.x);
y2 = double(s2.y);
x3 = double(s3.x);
y3 = double(s3.y);
%两圆相交于两点,同第三个圆心距离的实际值相差较小点为Pab,Pbc,Pac
d1(1) = sqrt(((C(1)-x1(1))^2+(