The invention discloses a pipeline surveying and mapping internal inspection checkpoint measurement method and system based on RKT. The measurement method comprises the following steps: step 1: obtaining the coordinates of a base station, analyzing the coordinates, and transmitting the result to a mobile station; step 2, when the distance between the base station and the mobile station exceeds anRTK measurement range, obtaining high-precision coordinates of the base station again by using the synchronization technology of the base station and the mobile station, and continuing the RTK measurement, wherein the step further comprises: causing the base station to move to the position of the mobile station; performing a synchronous positioning operation of the RTK when the distance between the base station and the mobile station is very small, and causing the base station to position its own coordinates again by using the current high-precision coordinates of the mobile station; and causing the mobile station to move to the next location to be measured after the synchronization; and step 3, obtaining the coordinates of the mobile station. By adoption of the pipeline surveying and mapping internal inspection checkpoint measurement method and system based on RKT disclosed by the invention, the coordinate measurement precision is ensured, it is ensured that the coordinates of the positioning points of the entire pipeline are located in a unified precision interval by using the synchronous moving technology, and a relatively high excavation positioning recurrence rate is guaranteed.