  Joint communication and sensing allows the utilization of common spectral
resources for communication and localization, reducing the cost of deployment.
By using fifth generation (5G) New Radio (NR) (i.e., the 3rd Generation
Partnership Project Radio Access Network for 5G) reference signals,
conventionally used for communication, this paper shows sub-meter precision
localization is possible at millimeter wave frequencies. We derive the
geometric dilution of precision of a bistatic radar configuration, a
theoretical metric that characterizes how the target location estimation error
varies as a function of the bistatic geometry and measurement errors. We
develop a 5G NR compliant software test bench to characterize the measurement
errors when estimating the time difference of arrival and angle of arrival with
5G NR waveforms. The test bench is further utilized to demonstrate the accuracy
of target localization and velocity estimation in several indoor and outdoor
bistatic and multistatic configurations and to show that on average, the
bistatic configuration can achieve a location accuracy of 10.0 cm over a
bistatic range of 25 m, which can be further improved by deploying a
multistatic radar configuration.
