Nonlinear least squares trilateration with n points in R: https://appelsiini.net/2017/trilateration-with-n-points/

trilateration.r

library(geosphere)

locations <- data.frame(
    latitude = c(
        59.42606837, 59.42610146, 59.42654852, 59.42609108,
        59.42603039, 59.42666361
    ),
    longitude = c(
        24.72553151, 24.72552969, 24.72467492, 24.72555759,
        24.72565661, 24.72449149
    ),
    distance = c(8, 8, 9, 9, 9, 14)
)

# Use average as the starting point
fit <- nls(
    distance ~ distm(
        data.frame(longitude, latitude),
        c(fitLongitude, fitLatitude)
    ),
    data = locations,
    start = list(
        fitLongitude=mean(locations$longitude),
        fitLatitude=mean(locations$latitude)
    ),
    control = list(maxiter = 1000, tol = 1e-02)
)

# Result
latitude <- summary(fit)$coefficients[2]
longitude <- summary(fit)$coefficients[1]

paste(latitude, longitude, sep=",")