A Method for 3D Indoor Positioning Based on the Honey Badger Algorithm

The indoor positioning problem in wireless sensor networks consists in finding the position of a sensor node, called target node, in an indoor environment where other sensor nodes, called anchor nodes, are deployed. The elements required to mathematically formulate this problem are the coordinates of the anchor nodes and the distances measured from the target node to each anchor node. The indoor positioning problem is treated in this paper as an optimization problem, and it is solved using the recent honey badger algorithm. The proposed positioning method based on the honey badger algorithm is validated by means of three deployments of the anchor nodes in a real indoor environment. The discussed experimental results confirm that the performance of the proposed method is satisfactory, even in the scenarios in which ordinary positioning methods fail because of the critical positions of the anchor nodes. The accuracy reached by the proposed method is higher than the accuracy obtained using a positioning method based on particle swarm optimization, which is considered as a reference point.