Precise positioning will undergo exponential growth with the advent of autonomous driving of cars, drones, robots and the technological development of smart devices.The continuous outdoor-indoor transition and vice versa, as well as the growing need for precise and reliable positioning in dense urban environments, have to be based on hybrid 5G-GNSS positioning technologies. In this sense, the HYPER-5G project aims at studying, designing and developing the algorithms and software needed to implement a precise positioning engine to jointly use multi-constellation GNSS and 5G observations, also exploiting GNSS PPP-RTK techniques.