“…These advancements include even higher frequency ranges, wider bandwidths, massive antenna arrays, intelligent surfaces, intelligent beam-space processing, AI and machine-learning-based techniques, sidelink solutions, architecture evolution, and beyond connectivity [25,[69][70][71][72][73][74][75]. These new technologies (as illustrated by Figure 6) will enhance legacy solutions through efficiency and cost optimization [25,74], and open up new possibilities for 6G localization [25,[69][70][71][72][73]. In order to satisfy the requirements of new technologies, networks beyond 5G will be forced to conform to even higher standards related to positioning, translating to possibly under 0.5 ms latency, up to eight nines reliability and down to centimeter-level positioning accuracy [72,75,76], or even sub-centimeter level relative-positioning accuracy [73].…”