Location-aware communication systems are expected to play a pivotal part inthe next generation of mobile communication networks. Therefore, there is aneed to understand the localization limits in these networks, particularly,using millimeter-wave technology (mmWave). Towards that, we address the uplinkand downlink localization limits in terms of 3D position and orientation errorbounds for mmWave multipath channels. We also carry out a detailed analysis ofthe dependence of the bounds of different systems parameters. Our key findingsindicate that the uplink and downlink behave differently in two distinct ways.First of all, the error bounds have different scaling factors with respect tothe number of antennas in the uplink and downlink. Secondly, uplinklocalization is sensitive to the orientation angle of the user equipment (UE),whereas downlink is not. Moreover, in the considered outdoor scenarios, thenon-line-of-sight paths generally improve localization when a line-of-sightpath exists. Finally, our numerical results show that mmWave systems arecapable of localizing a UE with sub-meter position error, and sub-degreeorientation error.
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