Accurate and reliable positioning solution is an important requirement for many applications, for instance, emergency services and vehicular-related use cases. Positioning using cellular signals has emerged as a promising solution in Global Navigation Satellite System (GNSS) challenging environments, such as deep urban canyons. However, harsh working conditions of urban scenarios, such as with dense multipath and Non-Line of Sight (NLoS), remain as one of the key factors causing the detriment of the positioning estimation accuracy. This paper demonstrates that the use of joint Uplink Time Difference of Arrival (UTDoA) and Angle of Arrival (AoA) gives a significant improvement in the position accuracy thanks to the use of antenna arrays. The new advances of this technology enable more accurate user locations by exploiting angular domains of propagation channel in combination with time measurements. Moreover, it is shown that a better localization is achieved by combining the joined UTDoA and AoA with a base-station selective exclusion method that is able to detect and eliminate measurements affected by NLoS. The proposed approach has been tested through simulations based on a deep urban deployment map, which comes with an experimental data file of the user's position. A sounding reference signal of 5G new radio operating in the centimeter-wave band is used. The obtained results add value to the use of advance antennas in 5G positioning. In addition, they contribute towards the fulfillment of high-accuracy positioning requirements in challenging environments when using cellular networks.