  In 5G mmWave, joint positioning and synchronization can be achieved even when
the line-of-sight path is blocked. In this technical note, we describe a simple
method to determine a coarse estimate of the user state and the environment.
This method is based on geometric consistency of the 5G mmWave measurements and
can be used as a pre-processor for other more sophisticated methods, in order
to reduce their complexity. A link to MATLAB source code is provided at the end
of the document.
