  Future sub-THz cellular deployments may be utilized to complement the
coverage of the global positioning system (GPS) and provide centimeter-level
accuracy. In this work, we use measurement data at 142 GHz to test a map-based
position location algorithm in an outdoor urban microcell (UMi) environment. We
utilize an extended Kalman filter (EKF) to track the position of the user
equipment (UE) along a rectangular track, with the transmitter-receiver
separation distances varying from 24.3 m to 52.8 m. The position and velocity
of the UE are tracked by the EKF, with measurements of the angle of arrival and
time of flight information obtained along an outdoor track, to provide a mean
accuracy of 24.8 cm at 142 GHz, over 34 UE locations, using a single base
station in line-of-sight and non-line-of-sight.
