A miniature industrial endoscope system based on biprism and single camera is proposed, which can obtain two views of the same scene at the same time, and display on single-frame CCD image. By establishing the system structure parameter model, the influence of the measurement range on the system measurement error is analyzed. The result shows that, in the close measurement the system measurement range is small and the error is small. As the measurement range becomes larger, the error will also become larger, and the error changes gently along the straight line ω1=ω2. Using this system to measure the grid size of the high-precision calibration board, the measurement error reaches the order of microns, and the average error is 2.06%, which meets the needs of industrial applications. The system has simple operation, compact structure and relatively few parameters. It has certain guiding significance for the structural design and application of industrial endoscope.