Abstract: With the coming of the 5th-Generation (5G) era, 5G technology represented by millimeter wave communication has been paid more and more attention. 5G millimeter wave signal has larger bandwidth, higher frequency, shorter delay and sparser channel, so it can provide time estimation for time of arrival (TOA) and time difference of arrival (TDOA) positioning more accurately, which is conducive to achieve high-precision indoor positioning. In this paper, three kinds of indoor 5G millimeter wave TDOA positioning algorithms are compared and studied, and the results of indoor static and dynamic positioning results are calculated with Kalman filtering. The results show that the indoor static positioning accuracy based on 5G millimeter wave can reach 0.2886 m, and the dynamic positioning accuracy can reach 0.6076 m.