Using information about the wireless communica- tion channel is a well known approach to estimate a users position. So far it has been shown that such methods can provide positioning information in line-of-sight (LOS) situations by estimating channel properties like time of flight, direction of arrival, and direction of departure of a link between a single access point and station. In this paper we focus on mmWave channels and propose a method that allows positioning in indoor scenarios even under non-line-of-sight conditions by exploiting the presence of scatterers. Further, we propose an approach to overcome the need for an angular reference which is usually required to perform measurements of direction of arrival/departure and, therefore, limits practical applications. We investigate the influence of noisy temporal and spatial measurements on achievable performance with and without presence of an angular reference. Results show that in presence of an angular reference, positioning with the proposed method is possible with an accuracy lower than 4cm in 50% of observations and decreases to 8 cm without an angular reference.