# A Tutorial on Terahertz-Band Localization for 6G Communication Systems

arXiv: https://arxiv.org/abs/2110.08581 · HTML: https://mlsanity.com/paper/2110.08581/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Oct 2021.

## Built on by (most cited first, 8 of 8)

- [Large Wireless Localization Model (LWLM): A Foundation Model for Positioning in 6G Networks](https://mlsanity.com/paper/2505.10134/) (2025)
- [AI-driven Wireless Positioning: Fundamentals, Standards, State-of-the-art, and Challenges](https://mlsanity.com/paper/2501.14970/) (2025)
- [Metarobotics for Industry and Society: Vision, Technologies, and Opportunities](https://mlsanity.com/paper/2404.00797/) (2024)
- [Transfer Learning for CSI-based Positioning with Multi-environment Meta-learning](https://mlsanity.com/paper/2405.11816/) (2024)
- [5G-DIL: Domain Incremental Learning with Similarity-Aware Sampling for Dynamic 5G Indoor Localization](https://mlsanity.com/paper/2505.17684/) (2025)
- [Map as a Prompt: Learning Multi-Modal Spatial-Signal Foundation Models for Cross-scenario Wireless Localization](https://mlsanity.com/paper/2607.15713/) (2026)
- [RadioDiff-Loc: Diffusion Model Enhanced Scattering Congnition for NLoS Localization with Sparse Radio Map Estimation](https://mlsanity.com/paper/2509.01875/) (2025)
- [RA-LWLM: Retrieval-Augmented In-Context Localization with Wireless Foundation Models](https://mlsanity.com/paper/2606.01899/) (2026)

## Abstract (arXiv)

Terahertz (THz) communications are celebrated as key enablers for converged localization and sensing in future sixth-generation (6G) wireless communication systems and beyond. Instead of being a byproduct of the communication system, localization in 6G is indispensable for location-aware communications. Towards this end, we aim to identify the prospects, challenges, and requirements of THz localization techniques. We first review the history and trends of localization methods and discuss their objectives, constraints, and applications in contemporary communication systems. We then detail the latest advances in THz communications and introduce the THz-specific channel and system models. Afterward, we formulate THz-band localization as a 3D position/orientation estimation problem, detailing geometry-based localization techniques and describing potential THz localization and sensing extensions. We further formulate the offline design and online optimization of THz localization systems, provide numerical simulation results, and conclude by providing lessons learned and future research directions. Preliminary results illustrate that under the same transmission power and array footprint, THz-based localization outperforms millimeter wave-based localization. In other words, the same level of localization performance can be achieved at THz-band with less transmission power or a smaller footprint.