With　the　real　restriction　of　packet　size　and　transmission　power,　a　joint　UL-AoA　(Uplink　Angle　of　Arrival)　and　UL-TDOA　(Uplink　Time　Difference　of　Arrival)　positioning　method　is　discussed　for　the　Industrial　Internet　of　Things　(IIoT),　which　demands　high　accuracy　of　position　information.　One　motivation　of　the　UL　positioning　method　of　IIoT　is　an　asymmetric　network　and　uplink　traffic　is　dominant　in　most　identified　scenarios.　Further,　IIoT　sensors　are　power　limited　for　low　cost,　compared　to　the　transmission　power　of　base　stations　and　other　normal　user　equipment.　This　paper　considers　an　environment　of　a　5G-enabled　IIoT　network　with　massive　Multiple　input　multiple　output　(MIMO)　antennas,　beamforming　and　millimeter　operating　bands.　After　reviewing　downlink　positioning　reference　signal　(PRS)　and　uplink　sounding　reference　signal　for　positioning　(SRS-Pos),　a　general　system　model　and　a　theoretical　localization　problem　is　derived　under　the　joint　positioning　method.　The　provided　simulation　results　help　to　investigate　the　impact　of　system　configurations　on　positioning　measurements.　Further,　through　the　test　in　this　paper,　it　is　proved　that　joint　positioning　outperforms　that　of　the　time　only　or　angle　only　method.