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