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Reconfigurable intelligent surfaces (RISs) are considered as an enablingtechnology for the upcoming sixth generation of wireless systems, exhibitingsignificant potential for radio localization and sensing. An RIS is usuallytreated as an anchor point with known position and orientation when deployed tooffer user localization. However, it can also be attached to a user to enableits localization in a semi-passive manner. In this paper, we consider a staticuser equipped with an RIS and study the RIS localization problem (i.e., jointthree-dimensional position and orientation estimation), when operating in asystem comprising a single-antenna transmitter and multiple synchronizedsingle-antenna receivers with known locations. We present a multi-stageestimator using time-of-arrival and spatial frequency measurements, and derivethe Cram\'er-Rao lower bounds for the estimated parameters to validate theestimator's performance. Our simulation results demonstrate the efficiency ofthe proposed RIS state estimation approach under various system operationparameters.

RIS Position and Orientation Estimation via Multi-Carrier Transmissions and Multiple Receivers