In the visual-inertial positioning system, the calibration of the sensor pose relationship plays a crucial role in realizing accurate spatial positioning. Existing calibration methods lack integration for multi-sensor systems, and the calibration accuracy is limited. In this paper, a high-precision integrated calibration method for the position and attitude of the visual-inertial system is proposed. A precision three-axis turntable is used to provide the angle reference. The extrinsic parameters between the inertial measurement unit (IMU) and turntable are solved based on the invariance of the gravity vector and the consistency of centripetal acceleration values. The control field is constructed by the turntable to provide spatial angle constraints for camera calibration, and the intrinsic and extrinsic parameters of non-overlapping cameras are jointly optimized. Simulation and experimental results show that this method has high calibration accuracy and stability. In the combined positioning test of the multi-camera IMU system, compared with the classical calibration method Kalibr, using the calibration results of this method, the angle deviation of the system motion trajectory fitting axis is decreased by 40.32% and the distance deviation is decreased by 18.93%, which can meet the calibration requirements of high-precision visual-inertial positioning systems.