how do you find the distance between 2 points with known distances between other points

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link to diagram for explanation: https://i.stack.imgur.com/YnUMY.png

enter image description here

I am trying to determine the distance between i and j.

These nodes are all placed in a coordinate system.

things I know:

  • coordinates of i, p and q.
  • distance ip.
  • distance iq.
  • distance pq.
  • distance pj.
  • distance qj.

Does anybody know a way of doing this? Thanks