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It is well known that a single anchor can be used to determine the positionand orientation of an agent communicating with it. However, it is not clearwhat information about the anchor or the agent is necessary to perform thislocalization, especially when the agent is in the near-field of the anchor.Hence, in this paper, to investigate the limits of localizing an agent withsome uncertainty in the anchor location, we consider a wireless link consistingof source and destination nodes. More specifically, we present a Fisherinformation theoretical investigation of the possibility of estimatingdifferent combinations of the source and destination's position and orientationfrom the signal received at the destination. To present a comprehensive study,we perform this Fisher information theoretic investigation under both the nearand far field propagation models. One of the key insights is that while thesource or destination's $3$D orientation can be jointly estimated with thesource or destination's $3$D position in the near-field propagation regime,only the source or destination's $2$D orientation can be jointly estimated withthe source or destination's $2$D position in the far-field propagation regime.Also, a simulation of the FIM indicates that in the near-field, we can estimatethe source's $3$D orientation angles with no beamforming, but in the far-field,we can not estimate the source's $2$D orientation angles when no beamforming isemployed.

On the Limits of Single Anchor Localization: Near-Field vs Far-Field