The problem is impossible if we relax our assumption (implicit in your diagram) that the line between the two observers is tangent to the Earth. Let's reverse our perspective and suppose that the Earth's radius is $R$, the observers have height $h_1$ and $h_2$, and that our task is to fix the two observers so that they're a distance $d$ apart. By the cosine formula for triangles, we can put them an angle $\theta$ apart such that $d^2 = (R+h_1)^2 + (R+h_2)^2 - 2(R+h_1)(R+h_2) \cos \theta$, or $$\theta = \arccos \frac{(R+h_1)^2 + (R+h_2)^2 - d^2}{(R+h_1)(R+h_2)}$$
and as long as $h_1, h_2, R, d$ are chosen such that this expression is in the domain of $\arccos$, this can be satisfied. This means that any three measurements $h_1, h_2, d$ can work for a range of potential $R$s, so they can't pick out any specific one.
If the line between the two observers is tangent to the Earth, though, then by the power-of-a-point theorem, the distance from observer $i=1, 2$ to the Earth along this tangent line is $\sqrt{h_i (h_i + 2R)}$, and the length of the tangent line $d$ is the sum of these. The problem thus becomes solving $d = \sqrt{h_1(h_1+2R)} + \sqrt{h_2(h_2 + 2R)}$, and this has a unique solution because $\sqrt{h_1(h_1+2R)} + \sqrt{h_2(h_2 + 2R)}$ is a monotonically increasing function of $R$.