I. Introduction
Localization technologies have been applied to various applications in the Internet of Things (IoT), such as IoT device management [1], intelligent transportation [2], and smart homes [3], which have brought great convenience to people’s lives. With the rapid development of 5G communication technology (e.g., massive multiple-input-multiple-output and millimeter-wave), distance and angle information can be accurately measured between a single anchor user and a target node to compute the location of the target node, which enables the Single Anchor Localization (SAL) [4], [5]. The SAL has attracted much attention since it can achieve accurate and low-cost localization with only one anchor node. For example, a single-antenna device is able to localize another single-antenna device with decimeter-level accuracy, where the localization service is provided for practical and critical use cases [6].