Diverse categories of reciprocal preference relations (RPRs) have been put forward and extensively employed to quantify preference information. Consistency frameworks, which are profoundly interrelated with algebraic structures of RPRs, play a critical role in decision-making systems with RPRs. This paper introduces a novel concept of bipolar Abelian quasi-ordered monoids (BAQO-monoids) and regards any kind of RPRs as preference matrices over a given BAQO-monoid. Six BAQO-monoids are established to characterize algebraic structures of six types of imprecision-based RPRs: interval multiplicative RPRs, interval additive RPRs, triangular fuzzy multiplicative RPRs, triangular fuzzy additive RPRs, trapezoidal fuzzy multiplicative RPRs and trapezoidal fuzzy additive RPRs. Based on a general BAQO-monoid, a transitivity equation system with the binary mapping and parametric elements is developed. These parametric elements are then identified to propose a general unified consistency framework for RPRs over the BAQO-monoid. A distance-based computational formula is built to acquire inconsistency indices of RPRs over the general BAQO-monoid. The proposed general unified consistency framework and inconsistency measuring model are applied to set up consistency models and to calculate inconsistency indices for the six types of imprecision-based RPRs. Six numerical examples and important properties are provided to validate the proposed consistency frameworks and inconsistency measuring models.