so you have three linear equations
k = aX1 + bY1 + cZ1 k = aX2 + bY2 + cZ2 k = aX3 + bY3 + cZ3
What you can do is rewrite it as matriz
| x1 y1 z1 | | a | | k | | x2 y2 z2 | | b | = | k | | x3 y3 y3 | | c | | k |
to perform [abc ] do the following matrix operation
| a | | x1 y1 z1 | | k | | b | = inverse( | x2 y2 z2 | ) | k | | c | | x3 y3 y3 | | k |
The formula for the inverse 3x3 matrix can be found here.
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