Update realtime_location_with_serial_gui.py

Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py

@@ -186,9 +186,6 @@ class AnchorTagGUI:
         try:
             measured_distances = [var.get() for var in self.measured_distances]
             measured_distances = np.array(measured_distances)
-            noise_level = 0.0
-            measured_distances_noisy = measured_distances + np.random.uniform(-noise_level, noise_level, size=len(measured_distances))
-            print(f"Measured distances: {measured_distances_noisy}")
             # Automatically generate a reasonable initial guess
             def generate_initial_guess(measured_distances):
                 y_A = measured_distances[2]  # Distance from A to D
@@ -226,8 +223,8 @@ class AnchorTagGUI:
                 return lower_bound, upper_bound
 
             # Generate the initial guess and bounds
-            initial_guess = generate_initial_guess(measured_distances_noisy)
-            lower_bounds, upper_bounds = generate_bounds(measured_distances_noisy)
+            initial_guess = generate_initial_guess(measured_distances)
+            lower_bounds, upper_bounds = generate_bounds(measured_distances)
 
             def error_function(variables, measured):
                 x_B, y_B, x_C, y_C, y_A = variables
@@ -267,7 +264,7 @@ class AnchorTagGUI:
             result_noisy = least_squares(
                 error_function,
                 initial_guess,
-                args=(measured_distances_noisy,),
+                args=(measured_distances,),
                 bounds=(lower_bounds, upper_bounds),
                 loss='soft_l1'
             )
@@ -436,7 +433,7 @@ class AnchorTagGUI:
             self.canvas.create_oval(
                 x_tag_scaled - 5, y_tag_scaled - 5, x_tag_scaled + 5, y_tag_scaled + 5, fill="orange", tags="tag1"
             )
-            label = f"Tag 1({round(tag1_x, 2)}, {round(tag1_y, 2)} {tag1_z:.2f})"
+            label = f"Tag 1({round(tag1_x, 2)}, {round(tag1_y, 2)}, {round(tag1_z, 2)})"
             self.canvas.create_text(
                 x_tag_scaled + 15, y_tag_scaled + 15, text=label, fill="black"
             )
@@ -449,7 +446,7 @@ class AnchorTagGUI:
             self.canvas.create_oval(
                 x_tag2_scaled - 5, y_tag2_scaled - 5, x_tag2_scaled + 5, y_tag2_scaled + 5, fill="green", tags="tag2"
             )
-            label = f"Tag 2({round(tag2_x, 2)}, {round(tag2_y, 2)} {tag2_z:.2f})"
+            label = f"Tag 2({round(tag2_x, 2)}, {round(tag2_y, 2)}, {round(tag2_z, 2)})"
             self.canvas.create_text(
                 x_tag2_scaled + 15, y_tag2_scaled + 15, text=label, fill="black"
             )