This work presents a novel localization scheme based on Ultra-Wideband (UWB) channel sounding, employing a triangulation method that makes use of the geometrical properties of propagation paths, such as time of arrival (ToA), angle of departure (AoD) and angle of arrival (AoA). An extension to the high-resolution RiMAX algorithm was developed, facilitating the analysis of UWB frequency-dependent propagation parameters, allowing for the localization of a target node in Line-of-Sight (LoS), Obstructed-LoS (OLoS), and Non-LoS (NLoS) scenarios.