I. Introduction
5G new Radio offers great opportunities for accurate localization by introducing large bandwidth, high carrier frequency, and large antenna array. Most of the state-of-the-art localization techniques [1] and 3GPP positioning standards [2] are designed based on multiple base stations (BSs) and line-of-sight (LOS) paths, or single reference node and single bounce non-LOS (NLOS) paths radio propagation. A low complexity, search-free 5G mmWave localization and mapping method that is able to operate using single-bounce diffuse multipath is proposed in [3], where LOS and specular multipath are not required. In [4], the authors propose a localization algorithm for use in NLOS environments with single bounce scattering, based on time-difference-of-arrival (TDOA), the angle-of-departure (AOD), and the angle-of-arrival (AOA). The proposed algorithm uses the underlying geometry of the radio propagation paths to estimate the position of the mobile station. In [5], based on the measured AOD, AOA, and time-of-arrival (TOA), a three-dimensional (3D) least squares (LS) positioning algorithm is proposed assuming a single-bounce reflection in each NLOS propagation path.