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In the past, NLOS propagation was proven to be a source of distortion for radio-based positioning systems due to the lack of temporal and spatial resolution of previous cellular systems. Hence, every NLOS component was perceived as a perturbation for localization. Even though 5G is not yet standardized, a strong proposal, which has the potential to overcome the problem of limited temporal and spatial resolution, is the massive MIMO millimeter wave technology. We reconsider the role of NLOS components for position and orientation estimation in 5G millimeter wave MIMO systems. Our analysis is based on the concept of Fisher information. We show that for sufficiently high temporal and spatial resolution, NLOS components always provide position and orientation information that consequently increase position and orientation estimation accuracy. In addition, we show that the information gain of NLOS …