Adding to Matti's comment. Starting out from the same symmetric top quarter, you know that we have a right triangle, with the corner angles being at $45^\circ$. Now go to the center of the smaller inscribed half-circle and draw a line from the center to the intersection with the square. You can now state an equation about $\sin 45^\circ$ in terms of the small radius $a$.
The equation should look something like this. (For simplicity, I have assumed that the radius of the large circle is 1)
\begin{eqnarray} \frac{1}{\sqrt{2}} &=& \frac{a}{\sqrt{2}-(1+a)}\\\ a &=& 3 - 2\sqrt{2} \end{eqnarray}
To answer your question, the probability of landing in one small circle on the unit square is \begin{equation} \frac{\pi a^2}{4} = 0.0231 \end{equation}