Real-time Kinematic (RTK) is widely used in surveying and mapping, monitoring, navigation and other aspects due to its advantages of a simple algorithm, fast convergence, high positioning accuracy and outstanding reliability. With the continuous advancement of Global Navigation Satellite System (GNSS) technology, the GNSS RTK positioning mode has made significant progress in theoretical algorithms, engineering applications, and data processing. This paper reviews of RTK positioning technology, focusing on the development history of long-baseline RTK positioning technology, multi-frequency and multi-system, partial ambiguity fixed algorithm, Network RTK Positioning technology and single-frequency RTK algorithm. Also, the critical factors affecting the accuracy and reliability of RTK positioning are summarized. Finally, it discussed the new development opportunities brought by RTK technology with the further construction of GNSS and continuous optimization of sensor technology.