2021 18th International Multi-Conference on Systems, Signals & Devices (SSD'21)
Neighbor-Assisted Localization for Massive
MIMO 5G Systems
Amal Sellami† , Leı̈la Nasraoui†,∗ , Leı̈la Najjar†
† COSIM
Research Lab.,
Higher School of Communications (SUP’COM), University of Carthage, Tunisia
∗ National School of Computer Science (ENSI), University of Manouba, Tunisia
Emails: {amal.sellami,leila.nasraoui,leila.najjar}@supcom.tn
2021 18th International Multi-Conference on Systems, Signals & Devices (SSD) | 978-1-6654-1493-7/21/$31.00 ©2021 IEEE | DOI: 10.1109/SSD52085.2021.9429525
Abstract—In this paper, we propose a multi-stage
localization technique that enables to determine the
position of a Target User Equipment (T-UE) with
harsh channel conditions through the assistance of
neighboring User Equipments (UEs). The proposed
approach allows a reduced-complexity localization
by minimizing the search space through multi-
stage treatment. A neighbor discovery processing is
first performed to identify the two nearest neigh-
boring UEs among a set of UEs in the vicinity.
The so selected neighbors are used as anchors
(A-UE). Then, based on the signal strength, the
distances separating the two A-UEs to the T-UE
are determined. The distance estimates are used
to plot two potential solutions of the Angle of
Arrival (AoA) of T-UE. To distinguish the correct
AoA estimate, oriented beamforming is performed
around short arcs centered on the two AoA can-
didates. The user’s position is then deduced based
on the estimates of the AoA and the distance to
the A-UEs. Our approach exploits the capabilities
of neighbor discovery and oriented beamforming
to provide an accurate position estimate for UEs
experiencing harsh channel conditions that render
direct localization at the base station difficult.
Index Terms—5G, Localization, Multi-stage,
neighbor discovery, D2D link, Massive MIMO.
I. I NTRODUCTION
The 5G wireless ecosystem is essential for a
myriad of new applications based on accurate
location awareness and other contextual informa-
tion, which made accurate localization of great
importance [1]. Several localization algorithms
have been proposed to deal with the challenges in
different positioning applications. Mobile-based
and network-based are commonly known in the
literature. In mobile-based location systems, the
UE determines its location from signals received
from some base stations (BSs) or the global
positioning system (GPS) [2], [3]. In GPS-based
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estimations, the UE receives and measures the
signal parameters from at least four satellites. The
parameter measured by the UE for each satellite is
the time the satellite signal takes to reach the UE.
GPS systems have a high degree of accuracy, and
they also provide global location information such
as the global navigation satellite system (GNSS)
[4], [5]. However, they are limited solutions
because of their high power consumption and
the Line-of-Sight (LoS) to satellites requirement.
Network-based systems rely on existing networks
to deduce the position of a UE by measuring
its signal parameters when received at the BS
side. In this method, the BS measures the signals
transmitted from a T-UE and relays them to a
central unit for processing and data fusion to
provide an estimate of the location.
To resolve the problems with GNSS, various
localization schemes were proposed [6]-[9]. In
[6], a combination of various range based tech-
niques, called hybrid positioning, is a well known
approach for localization that achieves sufficient
precision. The approach focused on outdoor lo-
calization utilizing crowdsourced WiFi signal data
and built-in sensors in smart phones, which can
achieve high-positioning accuracy and low power
consumption. The experimental results showed
that the hybrid localization scheme outperforms
the widely-adopted GPS-based method in terms
of both positioning accuracy and power con-
sumption. Also, it ensured the effectiveness of
crowdsourcing fingerprints.
Direct Localization for Massive MIMO [7] has
solved the problem of localization under NLoS
conditions taking advantage of the high resolution
of massive arrays. In this method’s first step, at
each BS, the ToAs are roughly estimated via
an adapted filter with an offset version of the
503
reference signal. Second, the position is searched
on a grid by solving a convex optimization
problem (adjustment between observations from
the positions and outputs of the adapted filter)
relying on tools from compressive sensing. This
method has succeeded in achieving sub-meter
localization accuracy with higher probability in
dense multipath environments with narrow-band
signals and has proven good robustness against
synchronization errors. The gain in precision is
accompanied by high computational complexity
compared to existing techniques.
The method in [8] studied user positioning
in millimeter wave (mmW) 5G network using
beam-RSRP (Reference Signal Received Power)
measurements and Extended Kalman Filtering
(EKF) with 3D-beamforming features of multi-
antenna. The position was estimated using a two-
stage EKF that is based on RSRP measurements.
During the first EKF phase, at each BS, the
Directions-of-Departure (DoDs) are estimated.
The DoDs’ estimates in the first step are merged
into a central entity and by means of a second
angle-based EKF phase, an estimate of the 3D
position of the UE is deduced. The performance
evaluation of this technique in a 5G context has
proven that a sub-metric 3D positioning accuracy
is achievable in networks without taking into
consideration the uncertainties in the orientation
of the BS in the beamforming step.
Recently, the work in [9] proposed a local-
ization technique that reduces the complexity
of the problem by minimizing the search space
through multi-stage processing. Synchronization
and sector search were first achieved exploit-
ing the Primary Synchronization Signal [10]-
[12]. Then, localization was performed based on
the AoA whose estimation involves a two-step
procedure, where signals detected from different
antennas are first processed to obtain a coarse
AoA, followed by a fine search performed around
the coarse estimate. The user’s position is then
calculated based on the estimates of the AoA and
the distance to the UE.
In this work, we propose a multi-stage
neighbor-assisted localization method adapted to
harsh channel conditions. The proposed work
focuses on localizing UEs experiencing unsatis-
factory signal power at the BS preventing their
direct localization. Each of these UEs is referred
to as Target UE (T-UE) whose localization pro-
cess involves two neighboring UEs which are
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assumed to have sufficiently high received signal
power allowing the T-UE localization based on
the RSSI measurement. This is followed by an
AoA estimation by beamforming processing [9].
The neighbor UEs are used as references and
denoted as Anchor UEs (A-UE). At first, all
UEs should perform neighbor discovery to learn
about each other. Then, the two A-UEs with the
higher power measurements to the T-UE are used
to calculate the distances to the T-UE. Having
this information allows to provide two position
candidates plotted through crossing the circles of
rays equal to the RSS-based estimated distances.
To eliminate the ambiguity and decide about
the correct position, we perform a beamforming
processing throughout two limited beams around
the two angle candidates at the BS.
The remaining of this paper is organized as
follows. Section II presents the system model
and details the generation of the reference signal.
In Section III, we recall the neighbor discovery
processing adopted in our work. Then, the pro-
posed neighbor-assisted localization processing
is described. Section IV presents the numerical
results and includes a discussion. Finally, the
conclusions are presented in Section V.
II. S YSTEM M ODEL
We consider a two-dimensional (2D) scenario
with one stationary T-UE located at the coordi-
nates c = (x, y) and linked to the BS through a
harsh channel as presented in figure 1.
Fig. 1. Example scenario.
The BS supports massive MIMO with M an-
tennas and is positioned at the center of
the
studied system cBS = (xBS , yBS ) = (0, 0) . We
also consider a set of neighbor UEs located in the
vicinity of the T-UE and serving as anchors. The
minimum number of A-UEs required to achieve
localization is two, assumed to have good channel
conditions and to be localized at the level of the
BS. These two A-UEs have coordinates denoted
by (x1 , y1 ) and (x2 , y2 ).
We denote by a (θ) the array response vector at
the hosting BS for a ray impinging from angle θ,
which is defined in the case of Uniform Linear
Antenna (ULA) with half wavelength spacing as
 
1
 ejπ sin θ 
 
 . 

a (θ) = 
 .

. (1)
 .

 ing an IFFT operator on the cyclically shifted
 
ejπ(M −2) sin θ 
ejπ(M −1) sin θ
It is worth noting here that antenna ULA structure
is not compulsory for the scheme to work. Each
UE i transmits a reference signal si which propa-
gates through multipath environment, resulting in
an amplitude at the BS and direction θ given by
a(θ)h y(t)|,
P (θ) = |a
where y(t) concatenates the signals received at
the BS M antennas. Assuming that all UEs send
with the same transmit power Pt , the received
power is calculated according to the following
formula
λ
2
Pr = Pt Ω, (3)
4πd
where λ is the wavelength of the signal, d is the
actual distance between the UE and the BS or
between two neighboring UEs, and Ω ∈ [0, ∞]
is the channel power loss/gain factor whose dis-
tribution strongly depends on the link (T-UE to
A-UE, A-UE to BS, or T-UE to BS).
A. Demodulation Reference Signal
Demodulation Reference Signals (DMRS) are
initially introduced to be used by the base station
for channel estimation and coherent demodulation
of the uplink physical channels. Likewise, since
enabling direct Device-to-Device (D2D) commu-
nication in Rel. 12 and beyond, DMRS is associ-
ated with physical Sidelink channels for coherent
demodulation. Considering that DMRS sequences
are assigned to UEs and sent regularly, we here
exploit them to discover neighbors in the vicinity.
Multiple DMRS sequences can be derived by
cyclically shifting a base sequence r̄ using δi as
r(δi ) (n) = ejδi n r̄(n), 0 ≤ n < Mzc ,
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where Mzc is the length of the extended sequence.
The cyclic shifts δi of UEs are uniformly sepa-
rated by Nu /8. The original sequence r̄ is chosen
as the cyclic extension of a Zadoff-Chu (ZC)
sequence xu of root u and is expressed as
r̄(n) = xu (n mod Nzc ), (5)
where Nzc is the length of the ZC sequence
defined as
πun(n+1)
xu (n) = e−j Nzc , 0 ≤ n ≤ Nzc − 1. (6)
The DMRS sequence s i is generated by apply-
sequence r(δi ) . Each sequence s i is then assigned
to a UE i in the set U .
B. Channel Model
We assume that the links between A-UEs and
the BS experience a combination of LOS path
and diffuse multi-path. In this case, the parameter
Ω presents the Rician distributed channel gain
corresponding to the effect of the small-scale
(2) fading.
Using this model, the distribution of Ω follows
a noncentral Chi-square probability density func-
tion given by [13]
s
(K + 1)e−K −(K+1)ω
!
fΩ (ω) = e Ω I0 2
K(K + 1)ω
, (7)
Ω Ω
where ω ≥ 0, I0 (.) is the zero-order modified
Bessel function of the first kind and K = PPNLOS
LOS
is the ratio of the powers in the LOS to the NLOS
components and mean Ω = 1 for normalization.
On the other hand, the channel between the
T-UE and the BS only experiences NLOS com-
ponents resulting from multi-path propagation. In
this case, the K factor reduces to 0, leading to a
Rayleigh channel gain Ω.
In a limited space, we assume that the radio
channel between neighboring UEs (T-UE and A-
UEs) experiences a Friis propagation loss, and
only the path-loss is considered leading to Ω = 1
in equation (3).
III. L OCALIZATION P ROPOSED A PPROACH
The localization process aims to determine ĉ =
(x̂, ŷ) that corresponds to the T-UE location co-
ordinates estimates in a Cartesian coordinate sys-
tem. Only the x and y coordinates are considered,
the z coordinate is ignored. This corresponds to
a case where the BS and the T-UE are located on
a relatively flat plane. The origin of the Cartesian
(4) coordinate system is set at BS (xBS , yBS ) =
505
(0, 0). The processing involves four steps required
to estimate the T-UE coordinates. As we focus on
T-UE with obstructed channels, the basic idea of
the proposed method is to assist the BS through
gathering some information useful to localize the
T-UE from A-UE having LOS components to-
wards T-UE. We assume that the neighboring UEs
(T-UE and A-UEs) are perfectly synchronized,
which can be achieved through either data-aided
or blind approaches [15],[16]. The steps of the
proposed localization process are described in the
following sections.
A. Neighbor Discovery
To learn about his neighbors, a UE should first
perform neighbor discovery, which is defined as
the process by which it detects useful information
provided by its peers using a specific set of time
and frequency resources contained in the Physical
Sidelink Discovery Channel (PSDCH) [17]. There
exist several approaches ensuring discovery [18]-
[22], among them we here use a DMRS-based
approach [20], which provides accurate discov-
ery and is fully compatible with the standard-
ized signal structure. The exploited metric takes
advantage of the orthogonality between DMRS
sequences to identify the neighboring UEs with
high signal strength through the following metric
calculated for different DMRS sequences
!2
|γ(i, n)|
Γ(i, n) = , i ∈ U,
ρ(n)
where n refers to the time index, γ(i, n) is the
correlation of the received signal to the local
known DMRS sequence s i as
N −1
X C. Bilateration: Identification of Position Candi-
γ(i, n) = y ∗ (n + l)ssi (l),
l=0
where (.)∗ stands for the conjugate operator, and
y is the received signal at the neighbor UEs. The
denominator ρ(n) is the instantaneous power of
the received signal at time index n given by
X−1
n+N
ρ(n) = |y(l)|2 .
l=n
To decide whether UE-i has the satisfactory signal
strength allowing localization, the maximum met-
ric related to each DMRS sequence is compared
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to a preset threshold η , and a binary hypothesis
test is applied as
n o H1
Γi,max = max Γ(i, n) R η, i ∈ U.
n∈[0,N −1] H0
(11)
Hypothesis H1 holds if Γi,max is higher than
the threshold η . Otherwise, hypothesis H0 is
approved. In our work, among the discovered
neighbors, the two neighbors having the highest
metric magnitudes are chosen as anchors to be
used during localization processing.
B. RSRP Calculation
Once the UEs (Target and Anchors) are aware
of each other, power measurements of the RSRP
from the T-UE to the best two A-UEs are fulfilled
to calculate the distances to the T-UE. To do so,
we use the same signal already provided for the
discovery of neighbors. The distance separating
each A-UE from the T-UE is calculated according
to the following formula:
r
ˆ Pt Ω λ
d= , (12)
Pr 4π
based on equation (3), Pt is the power transmitted
by the T-UE, Pr is the power received by the A-
UE and Ω is the channel gain, which is assumed
to be known and is equal to 1 as we have a
free space propagation between T-UE and A-
UE. This step allows determining the distances
(8) separating the T-UE from the A-UE, and thus
draws a circle with ray dˆ centered on each A-
UE indicating potential T-UE position candidates.
This information will be used in the next step to
tighten the set of T-UE position candidates to only
two positions.
(9)
dates
Bilateration consists on plotting the intersection
of the two circles whose centers correspond to the
two A-UEs positions and whose radii correspond
to the recovered distances separating each A-UE
from the T-UE, which are here denoted as d1 and
d2 . If these circles intersect in exactly one point,
the coordinates of the T-UE can be determined
(10)
by linear equations. However, the intersection
results, most of the time, on two points P 1
and P 2 with respective coordinates denoted by
(xp1 , yp1 ) and (xp2 , yp2 ), as depicted in figure 2.
506
Fig. 2. Bilateration using the two neighbor A-UEs. The
circle around each A-UE indicates the distance to the T-UE.
The intersections of these circles define potential solutions
of the exact coordinates, P1 and P2 , to be confirmed after
beamforming around the indicated two directions towards
candidates positions.
Once the two position candidates are deter-
mined, the exact position of the T-UE can be
distinguished after a beamforming processing to
eliminate angular ambiguity and position ambi-
guity.
D. Beamforming: Estimation of Correct Location
The beamforming processing is here performed
along two small beams, pointing from BS towards
the two T-UE position candidates P1 and P2 with
coordinates (xp1 , yp1 ) and (xp2 , yp2 ) respectively.
Let θ1 and θ2 denote the two AoA of the con-
sidered T-UE positions which are assumed to be
calculated at the BS side. The relation between
the AoA and the two position candidates is shown
in figure 3 and is expressed as
( of 100m×100m in which the BS is deployed
tan(θ1 ) = (yp1 − yBS )/(xp1 − xBS ),
(13)
tan(θ2 ) = (yp2 − yBS )/(xp2 − xBS ).
These informations are available at the BS and
provided by the anchor UEs whose channel con-
ditions allow their direct localization. The BS, re-
ceiving the signal of T-UE through an obstructed
multipath channel, performs a search respecting
the model in equation (2) around the two angles
θ1 and θ2 expressed in (13). The angle around
which the highest amplitude of (2) is provided
will be considered as the AoA estimate of T-UE
θ that we denote by θ̂. Moreover, the coordinates
of the point Pi , i ∈ {1, 2} that is considered as
a solution corresponds to the T-UE coordinates
denoted as ĉ = (x̂, ŷ).
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Fig. 3. The AoA of the two candidate positions P1 and P2
to the BS drawn in a 2D plane. Beamforming is performed
at the BS by pointing two reduced width beams around θ1
and θ2 .
IV. P ERFORMANCE E VALUATION AND
A NALYSIS
In this section, we present the performance
evaluation of the proposed neighbor-assisted lo-
calization approach and compare it to the per-
formance of the multi-stage approach presented
in [9]. Different channel models are used in the
two methods. For the benchmark, we assumed the
presence of a LOS link between the T-UE and
the BS, which puts the benchmark in favor of
the proposed method. Simulations are performed
for 104 Monte Carlo (MC) trials to assess the
probability of sub-meter accuracy, the RMSE of
the coordinates estimation, and the RMSE of the
AoA estimation are evaluated versus the Signal
to Noise Ratio (SNR) which is defined as the
ratio of the signal energy to the noise energy.
We consider a 2D plane with a square space
in the center while the other UEs are located
randomly in each MC trial. The T-UE is assumed
to experience obstructed channel, modeled with
a Rayleigh channel, while each of the two A-
UEs is experiencing a main LOS link and other
NLOS components, thus modeled with a Rician
channel. All UEs transmit with a power Pt = 0
dBm and communicating through 30 GHz carrier
frequency. The BS is equipped with M = 100
antennas array.
In figure 4 we present the probability to achieve
sub-meter accuracy in the estimation of T-UE
coordinates. The obtained results show that over-
all, both approaches provide satisfactory accuracy
with higher probability achieved by the neighbor-
assisted approach. This improvement is mainly
depicted for SNR values between 0 dB and 8 dB, proposed approach. This behavior is also noted
where it reaches 3 dB for a probability target of in the case of the previously presented results,
75%. On the other hand, we note that outside this yet it is more visible in the estimation of θ.
SNR range, the accuracy is almost the same in the However, when the SNR value is greater than
two compared approaches. 5 dB, the benchmark performs worse than the
proposed method.
1

10 0
0.9

0.8
Probability of sub-meter accuracy

10 -1

0.7

10 -2
0.6

0.5
10 -3

RMSE [rad]
0.4

10 -4
0.3

0.2 10 -5

0.1

10 -6
0
-10 -5 0 5 10 15 20 25 30
SNR [dB]
10 -7
-10 -5 0 5 10 15 20 25 30
SNR [dB]

Fig. 4. Probability of sub-meter precision of coordinates

estimates ĉ as a function of the SNR for carrier frequency Fig. 6. RMSE of the angle estimate θ̂ a function of the SNR
fc = 30 GHz and M = 100. for carrier frequency fc = 30 GHz and M = 100.

Figure 5 depicts the RMSE of the coordi- Generally, the proposed method shows better
nates estimation ĉ of the two approaches. Consis- performance compared to the considered bench-
tently with the previous results, we note that the mark. For SNR value higher than 0 dB, the
proposed approach outperforms the considered contribution of neighbors in the localization pro-
benchmark, especially for SNR values higher than cess greatly enhances the accuracy. However, the
0 dB, while below this value a very slight gain is assumption of having two neighbors with LOS
recorded by the use of the benchmark. links remains necessary to achieve localization.

10 2
V. C ONCLUSION
This paper tackled the problem of outdoor
10
1 localization under harsh channel conditions to
the BS. We proposed a neighbor-aided approach
for the localization of a stationary T-UE in a
RMSE [meter]

10 0

massive MIMO context. The T-UE is assumed to

10 -1 have an unsatisfactory signal power due to harsh
channel conditions, while other UEs in its vicinity
10 -2 are assumed to have good channel conditions
enabling their localization by the BS. After neigh-
10 -3
-10 -5 0 5 10 15 20 25 30
bor discovery processing, the distances separating
SNR [dB] the T-UE from its neighbor A-UEs are estimated
based on the reference signal power measurement.
Fig. 5. RMSE of the T-UE coordinates estimate ĉ a function Then, two potential T-UE position candidates are
of the SNR for carrier frequency fc = 30 GHz and M =
100.
determined based on the intersection of the two
circles deduced from the distance T-UE to A-UEs
The RMSE of the AoA estimate θ̂ is shown estimates. A beamforming is then processed over
in figure 6 for the two algorithms. The errors in very limited angular intervals towards potential
θ̂ provided by the two methods are rather close T-UE two position candidates resolve ambiguity
when the SNR value is less than 5 dB, and for problem and fix the accurate estimate of the T-
this SNR range the benchmark outperforms the UE’s position. Simulations were performed and

508

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showed a localization accuracy that achieves an
error lower than one meter with high probability
even at low SNR values.
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