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Based on the analysis of various indoor position methods, inertial navigation system\u2013aided ultra-wideband system is realized for human positioning. Gas sensors are deployed to monitor the leaking of harmful gases, such as H<jats:sub>2<\/jats:sub>S and CO. The gas diffusion area is also estimated dynamically based on the data of sensors. The evacuation route can be updated according to the real-time situation. Based on the positioning and warning method, a system is developed to dynamically plan safe evacuation route for human in different positions. 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