Great question - lots of stuff in the literature for going the other way into the formula. One of the keywords is "Haversine" - that matters if you traverse substantial distances but you can probably get away with plane geometry if the distances are like what you have shown in the example.
Not a solution, but good reading here:
http://www.movable-type.co.uk/scripts/latlong.htmlJust a thought, if you don't get the answer you need in these zones, ask a moderator to add this to the "Algorithms" Zone. It seems to have a bunch of academic types that look at questions over there.
Best regards, ~Ray