In recent years, with the popularity of smartphones, the indoor positioning systems based on mobile crowdsensing (MCS) have gained considerable interest and exploit. However, it is still challenging to construct a largescale indoor positioning system. 1) In indoor positioning model, storage and computing resources are very important. 2) The calibration operation of data label and selection of model parameters require the operation of professionals. 3) User location privacy may be compromise, which greatly affects participant safety and enthusiasm. To solve these problems, our model firstly provides an edge-crowdsourcing indoor localization architecture to improve storage, computing power and response speed. Then, based on manifold regularization, a semi-supervised indoor localization model is determined by an adaptive manner in terms of both similarity and manifold structure, which reduces the workload of the positioning model and improve localization accuracy. In addition, we propose a new privacy-aware indoor localization algorithm based on secure multi-party computation to protect location privacy. Experimental results on real-world datasets show that, compared with the previous methods, our method improves accuracy by 0.87m, and in terms of time overhead of privacy protection, our method reduces the running time of the thousand seconds level.