Referring to equidistant projection fisheye imaging model, self-calibration bundle adjustment for lunar rover hazard avoidance cameras are carried out by using the methods of calibration fields. The interior parameters and relative of exterior parameters of hazard avoidance cameras are calibrated. Using the obtained calibration parameters, the three-dimensional coordinates of the photogrammetry targets are recovered to get the three-dimensional coordinates of the targets hazard avoidance cameras coordinate system. Compare this three-dimensional coordinates with the known three-dimensional coordinates, and assess the calibration accuracy of hazard avoidance cameras by the comparative bias results. The experiment demonstrates the effectiveness of the calibration parameter models and the calibration method for the lunar rover hazard avoidance cameras.