The invention discloses a track detecting system and method based on integrated navigation. The track detecting system and method accurately and rapidly detect a railway track. A wireless navigation base station is established in a GNSS signal shielding zone; an integrated navigation device receiving GNSS and / or wireless navigation signals is integrated into track detecting equipment; position drifting and posture drifting of a gyro sensor are eliminated through GNSS and / or wireless navigation, positioning and track plotting, and therefore the divergence problem of track detecting accuracy is solved; and a self-adaption smoothing compiling high-pass filter is adopted for eliminating influences such as changes of the slowly-changing track elevation with an extremely low frequency and a large value, changes of the filter-out gradient and superelevation on a curve of the gyro sensor; and the system integrates a displacement sensor, an inclination sensor, the gyro sensor and the like of the track detecting equipment, a mileage counter and the added integrated navigation device, a data fusion technology is adopted, track internal geometric parameters, coordinates, elevations and 150-300 m base length irregularity are independently detected, and the detecting speed is higher than 4 km / h, so that the bottleneck problems of track detecting in operation maintenance of high-speed and common-speed railways are solved.