An indoor sensor fusion localization system using fire facility utilizes an indoor fire facility as LBS infra, and can provide the position and emergency information (crime, missing, disaster, etc.) of dedicated terminal holders or smart phone users at indoor and outdoor locations to the guardians or related organizations (police and National Emergency Management Agency) by applying localization node to the fire prevention infra such as emergency guide light and fire detector. Also, the system is capable of indoor localization with an error range of several meters. Various attempts have been made regarding the domestic localization methods, but the GPS is not capable of indoor localization and the mobile communication base station Cell-ID method has low localization accuracy (Kim et al. 2012). Also, even though precise localization is necessary indoors or in large underground space, the localization