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When fully implemented, sixth generation (6G) wireless systems willconstitute intelligent wireless networks that enable not only ubiquitouscommunication but also high-accuracy localization services. They will be thedriving force behind this transformation by introducing a new set ofcharacteristics and service capabilities in which location will coexist withcommunication while sharing available resources. To that purpose, this surveyinvestigates the envisioned applications and use cases of localization infuture 6G wireless systems, while analyzing the impact of the major technologyenablers. Afterwards, system models for millimeter wave, terahertz and visiblelight positioning that take into account both line-of-sight (LOS) and non-LOSchannels are presented, while localization key performance indicators arerevisited alongside mathematical definitions. Moreover, a detailed review ofthe state of the art conventional and learning-based localization techniques isconducted. Furthermore, the localization problem is formulated, the wirelesssystem design is considered and the optimization of both is investigated.Finally, insights that arise from the presented analysis are summarized andused to highlight the most important future directions for localization in 6Gwireless systems.

Localization as a key enabler of 6G wireless systems: A comprehensive survey and an outlook