  Millimeter wave (mmWave) technology is expected to be a major component of 5G
wireless networks. Ultra-wide bandwidths of mmWave signals and the possibility
of utilizing large number of antennas at the transmitter and the receiver allow
accurate identification of multipath components in temporal and angular
domains, making mmWave systems advantageous for localization applications. In
this paper, we analyze the performance of a two-step mmWave localization
approach that can utilize time-of-arrival, angle-of-arrival, and
angle-of-departure from multiple nodes in an urban environment with both
line-of-sight (LOS) and non-LOS (NLOS) links. Networks with/without
radio-environmental mapping (REM) are considered, where a network with REM is
able to localize nearby scatterers. Estimation of a UE location is challenging
due to large numbers of local optima in the likelihood function. To address
this problem, a gradient-assisted particle filter (GAPF) estimator is proposed
to accurately estimate a user equipment (UE) location as well as the locations
of nearby scatterers. Monte Carlo simulations show that the GAPF estimator
performance matches the Cramer-Rao bound (CRB). The estimator is also used to
create an REM. It is seen that significant localization gains can be achieved
by increasing beam directionality or by utilizing REM.
