triangulation

[epsilon]

Hey, we were messing with the robot's autonomous sequence and using the IR Sensors on top of servos. When we went to program in the triangulation, we realized we couldnt see how to do it. We know the distance between the sensors, and each servos angle relative to the front of the robot. Also the field isnt going to move, so we know that there 24' between the IR sensors. From this we should be able to determine distance relative to the IR beacons (x and y) and relative angle to the line between the 2 beacons. If anyone could explain this out to us we would really appreciate it. Thanks