def trilateration(anchors: dict):
	"""
	More on: https://stackoverflow.com/questions/2507148/determining-the-coordinates-of-a-point-based-on-its-known-difference-from-three?fbclid=IwAR2HaqTalJf1GPvrp9FaraBdzo2Y1qlmmr3fI18mPvA6a8pwF96dZ74bCs0
	:param anchors: dict of anchors with radius for each one
	:return: predicted x, y coordinates
	"""
	p1, p2, p3 = anchors.keys()
	r1, r2, r3 = anchors.values()
	A = p1[0] - p2[0]
	B = p1[1] - p2[1]
	D = p1[0] - p3[0]
	E = p1[1] - p3[1]

	T = (r1 ** 2 - p1[0] ** 2 - p1[1] ** 2)
	C = (r2 ** 2 - p2[0] ** 2 - p2[1] ** 2) - T
	F = (r3 ** 2 - p3[0] ** 2 - p3[1] ** 2) - T

	# Ax + By = C / 2 // this is equation 'l'
	# Dx + Ey = F / 2 // this is equation 'n'

	# Cramer's Rule
	Mx = (C * E - B * F) / 2
	My = (A * F - D * C) / 2
	M = A * E - D * B

	x = Mx / M
	y = My / M

	return x, y