.Benefitting from a series of new features,the upcoming 5G has the potential capability of high accurate localization.It can be used jointly with Global Navigation Satellite System(GNSS)to help GNSS relieve the problem of lacking visible satellites in urban environments.However,the existing GNSS-5G hybrid methods typically calculate the position of every epoch in isolation without considering the stability and continuity of the users motion state.To tackle this problem,this work proposed an extended Kalman filter(EKF)-based GNSS-5G hybrid positioning method.It is able to estimate and track the position of user equipment(UE)real-timely based on the fusion of pseudo range measurements from GNSS satellites,and time of arrival(TOA)/angle of arrival(AOA)measurements from 5G base stations.It also considers the clock offset between the user and the base station,so that the synchronization error can be effectively estimated by EKF.Finally,the positioning accuracy and convergence time,as well as the effect of some key algorithm parameters,are all analysed and discussed in detail.Results show that the proposed method can achieve good positioning and tracking accuracy by using the future 5G mm wave signals and GNSS pseudo range information.