中文摘要：

在发生火灾等紧急情况时，由于高层楼宇空间小、出口少的结构特性，受困人员逃生往往很困难。针对传统的被动引导逃生方式中信息获取有限、易产生人群聚集等缺点，该文提出主动式逃生导航的概念，设计了一种改进的K-Means室内定位方法，结合人群密度检测与环境信息采集，进行路径导航，实现了一套基于传感器网络与智能手机的定位导航系统。实验表明，该系统能较好地提高定位精度，避开火灾点，增大每个人的逃生几率，该文为室内逃生导航方案提供了新的思路。

英文摘要：

In the emergency situations of fire disaster , escape of the trapped is often very difficult due to structural characteristics of small-space and few exports in high-rise buildings .In view of the drawbacks of limited access to information and the possibility of crowd gathering in traditional passive guidance ways , this paper proposes a concept of positive escape method , designs an improved indoor localization scheme , carries out path navigation combined with population density testing and environmental information collection .In the system, implements a localization-navigation system based on sensor networks and smart phones .Experiment results show that the system can avoid the fire locations efficiently , increase the trapped chance of escaping . This paper offers a new way for indoor escape and navigation .