In view of problem that RSSI location algorithm does not have continuity in positioning process, the paper proposed an underground personnel positioning method with continuity based on Kalman filter. The method adopts Kalman filter to filter processing position coordinates of underground personnel estimated by RSSI location algorithm, and established a Kalman filter model on the basis of this coordinate in order to real-timely track underground personnel. The experimental results show that the positioning method based on Kalman filter has accurate tracking effect, and can improve real-time performance and tracking accuracy of underground personnel tracking and positioning system.