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Millimeter-wave (mmWave) cloud radio access networks (CRANs) provide new opportunities for accurate cooperative localization, in which large bandwidths and antenna arrays and increased densities of base stations enhance the delay and angular resolution. This study considers the joint location and velocity estimation of user equipment (UE) and scatterers in a three-dimensional mmWave CRAN architecture. Several existing works have achieved satisfactory results by using neural networks (NNs) for localization. However, the black box NN localization method has limited robustness and accuracy and relies on a prohibitive amount of training data to increase localization accuracy. Thus, we propose a model-based learning network for localization to address these problems. In comparison with the black box NN, we combine NNs with geometric models. Specifically, we first develop an unbiased weighted least …