Since the release of the first version of the 5 th generation ( 5 G) mobile networks standard: Release-15 ( Rel- 15 ) , the 3 rd Generation Partnership Project ( 3 GPP) made significant efforts in the field of indoor and outdoor wireless positioning. Notably, Release-16 ( Rel-16 ) augmented support for enhanced mobile broadband ( eMBB) and ultra-reliable low-latency communication ( uRLLC) , particularly within complex indoor settings. To further meet the diverse application needs of positioning scenarios, the 3 GPP standards for Release-17 ( Rel-17 ) and Release-18 ( Rel-18 ) propose new enhancement measures to continuously provide more accurate positioning services. In this paper, the scholarly discourse on 5 G positioning was critically examined, providing a systematic review of the 5 G positioning standards as delineated in 3 GPP’s Rel-16 and Rel-17 , and extended the discussion to the anticipated enhancements in 5 G Rel-18 , along with their underlying motivations. Through these discussions, not only a comprehensive perspective on the current development of 5 G positioning technology was provided but also forward-looking analysis and predictions for the evolution of positioning technology in the upcoming 3 GPP Release-19 ( Rel-19 ) was offered. Additionally, it serves as a reference for researchers interested in understanding the development of positioning within the standard framework in the field of 5 G indoor positioning, which holds significant meaning for promoting research and application of 5 G positioning technology.