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More and more real-time applications apply RFID technology to identify, track and locate objects automatically in real time. However current research on RFID-based tracking and locating system focuses on RFID hardware, conflict detection and so on. RFID hardware which is applied to RFID-based mining system has heavy influences on design and selection of tracking and locating algorithm. There is not a general tracking and locating algorithm for RFID-based mining system. In this paper, we propose, design and implement a time-shifting tracking and locating algorithm (TSTLA) for RFID-based tracking and locating underground mine system. TSTLA algorithm has high generality and is independent of RFID hardware. We describe the system topology structure and make the rules of distributing RFID readers in underground mine. And then we present essential information for TSTLA algorithm and describe the steps of performing TSTLA algorithm. We verify TSTLA algorithm by implementing RLTLUM prototype system. Finally, we conclude the paper and indicate the future work.