2002 Mazda Millenia code P0335

Engine Mechanical problem
2002 Mazda Millenia 6 cyl Automatic 150000 miles

car is cutting off sometimes when you stop for light or real slow idle it cranks back up
i had auto zone do a code check and they go a p0335 code
which is crankshaft position sensor a malfunction.
first would this make it cut off and if yes
how do you change it and its location