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Location information is expected to be the key to meeting the needs ofcommunication and context-aware services in 6G systems. User localization isachieved based on delay and/or angle estimation using uplink or downlink pilotsignals. However, hardware impairments (HWIs) distort the signals at both thetransmitter and receiver sides and thus affect the localization performance.While this impact can be ignored at lower frequencies where HWIs are lesssevere, modeling and analysis efforts are needed for 6G to evaluate thelocalization degradation due to HWIs. In this work, we model various types ofimpairments and conduct a misspecified Cram\'er-Rao bound analysis to evaluatethe HWI-induced performance loss. Simulation results with different types ofHWIs show that each HWI leads to a different level of degradation in angle anddelay estimation performance.

MCRB-based Performance Analysis of 6G Localization under Hardware Impairments