You can use the Cordova GeoLocation plugin for that and implement a watchPosition so that it sends back location data every time the geolocation of the device changes.
You cannot think in terms of time with iOS, you must think in terms of distance (ie: distanceFilter).
You don’t say “I want a location every 5 minutes”, you say “I want a location every kilometre”
However, if you use my iOS-only background-fetch plugin, this will awaken your app in the background about every 15 min. You can use any geolocation plugin you wish to execute a #getCurrentPosition in the fetch callback.