Through effective analysis on wireless signal propagation model

it is found that fixity of path attenuation index values is one of the main reasons which causes ranging error. Based on traditional received signal strength indicator（ RSSI） location algorithm

combine coal mine roadway environmental characteristics

propose a self-adaptived RSSI triangle centroid localization（ SRTCL） algorithm

through dynamically calculating the path attenuation index between the beacon nodes and blind node

thereby increase adaptability of ranging algorithm on environment

and the algorithm combines with coal mine roadway environment characteristics and distance formula of beacon node to the blind node

discuss final calculate effect

ive coordinate of blind node. Simulation results show that aisle width at range of 5

15 m of two circles

the averaged positioning errors are less than 0. 5 m

the probability of positioning error which is less than 1m are above 90 %

it has high positioning precision.