In order to improve the accuracy of large field, far distant binocular camera calibration, a new calibration algorithm based on the constraints of camera position and orientation is proposed. As the three-dimensional position and orientation relationship between binocular cameras is a rigid transformation, the external parameters of relative pose of left and right cameras are targeted. By using the constraints of the relative position and orientation, internal parameters of the initial left and right cameras are calibrated. Excluding calibration image groups by large reprojection errors, repeating iterations until the mean of re-projection errors is less than the specified value, several camera internal parameters to be optimized is obtained. Then combining with the corner point coordinates of image groups, camera internal parameters to be optimized and corresponding external parameters, an objective function is established that the values of three-dimensional reconstruct corner point coordinates and the values of the actual three-dimensional corner point coordinates are the smallest. The optimal solution of binocular camera calibration parameters is solved. The proposed method is a good solution to the impact caused by the large error of calibration image, and makes full use of the constraint relationship between the binocular cameras position and orientation. Through simulation and calibration experiments, it can be seen that the proposed method can achieve a high precision calibration of large field binocular cameras.