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Aiming at the problems that non-line-measurement error is easily produced in narrow roadway and RSSI values are seriously influenced by underground coal mine environment, a dynamic a localization algorithm based on RSSI-similarity degree(DaLA-RSD) is proposed. The algorithm uses the information between tested beacon nodes group and the other side's two adjacent beacon nodes groups to get path loss index a of each location, in order to reduce the non-line-measurement error and obtain accurate measurement of distance. On the basis of this case, desired beacon nodes are selected to locate by RSSI-similarity degree and group number. Simulation results show that the algorithm has higher localization accuracy than maximum likelihood estimation localization algorithm(MLELA).