The popularity and applicability of mobile crowdsensing applications are continuously increasing due to the widespread of mobile devices and their sensing and processing capabilities. However, we need to offer appropriate incentives to the mobile users who contribute their resources and preserve their privacy. Blockchain technologies enable semi-anonymous multi-party interactions and can be utilized in crowdsensing applications to maintain the privacy of the mobile users while ensuring first-rate crowdsensed data. In this work, we propose to use blockchain technologies and smart contracts to orchestrate the interactions between mobile crowdsensing providers and mobile users for the case of spatial crowdsensing, where mobile users need to be at specific locations to perform the tasks. Smart contracts, by operating as processes that are executed on the blockchain, are used to preserve users' privacy and make payments. Furthermore, for the assignment of the crowdsensing tasks to the mobile users, we design a truthful, cost-optimal auction that minimizes the payments from the crowdsensing providers to the mobile users. Extensive experimental results show that the proposed privacy preserving auction outperforms state-of-the-art proposals regarding cost by ten times for high numbers of mobile users and tasks.