The recent growing interest for RFID based localization has created a need for easier installation and more accurate for indoor positioning. The CAA (Cylindrical Antennas Array) that consists of twelve directional antennas has been developed in this paper. In the area covered by directional antennas, only one antennas array is needed to locate the tags with the proposed method. Based on the designed system, the paper proposed a fingerprint-based localization with the aid of IMU (Inertial Measurement Unit), which is used to assist the filtering of received RF data and get the knowledge of the efficiency of current fingerprint database (radio map). In addition, the received data vectors by CAA have twelve dimensions which could improve the fingerprint-based localization accuracy. The experiments were conducted with the proposed system to position the tags and make a comparison with other indoor localization methods. The result shows it could increase the positioning accuracy of tags and enhanced the performance of RSS-based fingerprint localization.