Percent yield = (Actual Yield/Theoretical Yield) x 100.
First of all, which reactant is limiting? We know from the equation that the mole ratio between the reactants should be 1:3. The actual ratio we have is 10:30. Since both reactants should theoretically be fully used up, you can take either one as the limiting reactant.
Now calculate theoretical yield:
For each mole of calcium phosphate that reacts we expect 2 moles of phosphoric acid to be produced. Since we start with 10 moles of calcium phosphate we expect 20 moles of phosphoric acid to be produced (10 moles calcium phosphate * 2 moles phosphoric acid/1 mole calcium phosphate).
Our theoretical yield, therefore, is 20 moles of H3PO4.
Actual yield:
18 moles of H3PO4.
Percent yield:
(18/20) * 100 = 90%
Obviously this can be done much faster in your head once you understand the concept.