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For accuracy.

1 satellite can only tell you the distance from that satellite (a 3-d sphere around it).

2 satellites can only tell you what your distance from the two of them are(a 2-d circle between them).

3 satellites can give you 2 single points (1 one the surface of Earth, and one out in the middle of space, and they assume you are on Earth when using GPS).

4 satellites is to give extra accuracy on that point that you are at (4 times as accurate as 3 satellites).

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