ChatGPT tipped me off that it's called multilateration and provided the formulas. I Google search turned up this Python code: https://github.com/glucee/Multilateration
"multilateration (MLAT) ... is a technique for determining the position of an unknown point, such as a vehicle, based on measurement of the times of arrival (TOAs) of energy waves traveling between the unknown point and multiple stations at known locations."
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ChatGPT tipped me off that it's called multilateration and provided the formulas. I Google search turned up this Python code: https://github.com/glucee/Multilateration
This is not the same problem. We don't have the distance to the source, only the difference in arrival times.
"multilateration (MLAT) ... is a technique for determining the position of an unknown point, such as a vehicle, based on measurement of the times of arrival (TOAs) of energy waves traveling between the unknown point and multiple stations at known locations."
https://en.wikipedia.org/wiki/Pseudo-range_multilateration