I. Introduction
Positioning in wireless networks has been an active research topic for several decades. There is a slew of applications for positioning in mobile communication systems, and the number is expected to increase with the next generation of wireless networks. 5G-NR (New Radio) has increased the interest in positioning due to the higher accuracy; even more accurate positioning is expected for Beyond 5G (B5G) [1]. These technologies depend mainly on radio signal measurements made by devices within networks such as a base station (BS) or user equipment (UE). These radio measurements can be primarily time-based, angle-based, or a combination of both [2].