The cooperative measurement system response type two-way data communication method of the present invention comprises the following steps: the first machine sends a frame of data to the second machine; the second machine performs FSK demodulation to obtain the frame number and corresponding data of the first machine, and the second machine judges Whether the frame number and the frame number of the data that the second machine will send to the first machine conform to the defined rule, if so, the second machine receives the data, and sends a frame of data to the first machine, if not, discards this frame data, and resend the previous frame of data; the first machine performs FSK demodulation on the data sent by the second machine, and obtains the frame number and corresponding data of the second machine, and the first machine judges that the frame number is the same as the first machine will send to the second machine Whether the frame number of the data sent by the second machine conforms to the defined rule, if so, the first machine receives the data, and sends the next frame of data, if not, resends the frame of data; repeat the above steps.