How to convert this problem to cvx form

Nonconvex
1

Greetigns,
This is a localization problem. I want to minimize this function ? how to convert it to cvx form.
the variables are p0,x,y.
The constants are pi,xi,yi,C1,C2

image
image.png1362×106 34.7 KB

2

That doesn’t look particularly convex to me. I will declare it non-convex unless and until you show otherwise.