A positioning estimation method in a wireless telecommunication system (1) comprising a plurality of communication devices (10) connected through wireless telecommunication links (2), reference signals (SRS) being transmitted between a UE (10) whose position is to be estimated and each one of at N gNBs (20) whose positions are known, wherein N ≥ 3, comprising:- obtaining T time values, where these T time values are N Times of Arrival or N-1 Time Differences of Arrival;- transposing the T obtained time values into T distance values and using the known positions of the gNBs, determining a set of T non linear equations;- estimating the UE position coordinates by solving the set of nonlinear equations through a Particle Swarm Optimization method wherein at each iteration of said Particle Swarm Optimization method, a plurality of candidate UE positions corresponding to the swarm particles are updated based upon the position and velocities of the swarm particles.