Efficient and reliable fire detection methods are essential for addressing complex spatial characteristics of older residential communities, which often face poor fire safety conditions, various fire types, and challenges in rescue operations. In response to the problem of lacking comprehensive analysis of multidimensional data in traditional fire detection, which often leads to false alarms and missed alarms, this paper proposes a fire detection method based on multi-sensor data fusion. Various sensors are employed, including smoke sensors, temperature sensors, CO sensors, and flame sensors. These sensors collect multidimensional data, which are fused using improved adaptive filters and fuzzy Bayesian logical reasoning algorithms to establish a fire detection model based on multi-sensor data fusion. To additionally, false alarms and missed detections caused by sensor damage are further solved by exploring hidden spaces. Experimental results demonstrate that the proposed fire detection system based on multi-sensor data fusion effectively analyses fire occurrence and progression in older residential communities, and performs stability, accuracy and real-time property.