How can I find the coordinates $(x,y,z)$ in a $3d$ space when,
A) the unknown point is $(x,y,z)$;
B) there are three known points viz. $(a1,b1,c1)$, $(a2,b2,c2)$ and $(a3,b3,c3)$;
C) the distances from the three known points are $D1$, $D2$, $D3$, respectively.