A novel 1.8 GHz far field wireless power transfer (WPT) testbed was designed to achieve a long-distance energy harvesting in underground mines. Prior experimental studies indicate that underground mines suffer from severe radio frequency (RF) signal attenuation of 50 dB loss. Due to this severe signal attenuation characteristic, the currently deployed radio frequency energy harvesting (RF-EH) testbed cannot be deployed in underground mines. In this study, we designed and performed an empirical study with a military grade class A radio frequency wireless power transfer (RF-WPT) testbed experimenting with various digital modulation schemes. The various digital modulation schemes experimented included: BPSK, DBPSK, QPSK, OQPSK, Pi4DQPSK, 8PSK, D8PSK,16PSK, QAM16, QAM 64, QAM 256, QAM 1024, 2ASK, 2FSK, 4FSK, 8FSK, 16FSK, and OFDM. With the proposed testbed, we successfully performed long distance WPT in an underground mine at 20 meters by harvesting 4.2 volts DC with a Powercast P21XXCSR-EVB RF-EH receiver. We are specifically interested in understanding the optimal digital modulation scheme from the perspective of WPT efficiency in real world deployment scenario. Based on the outcome of this study, the optimal modulation scheme/s for WPT and wireless information transfer (WIT) in a simultaneous wireless information and power transfer (SWIPT) ecosystem is established. Amongst the various digital modulation schemes experimented with, 2ASK, 2FSK, 4FSK, 8FSK, 16 FSK and Pi4DQPSK exhibited high performance based on the maximum power transfer distance. Therefore, we recommend them as good candidates for WPT digital modulation schemes. The research also compared the impact of using Yagi and omnidirectional antennas. It was observed that there is a 5 meters performance loss between these antennas. Additionally, we mimicked a multipath wireless channel by introducing an N directional 15 dB coupler at the transmitter side, it was observed that underground mines lack multipath effect and hence, antenna diversity and MIMO technology will perform poorly in such environment.