In order to solve the distortion problem of camera imaging process in pose measurement, a novel camera calibration method is proposed. The method does not need high precision calibration reference, and only utilizes the mutual constraint relationship among the calibration targets to establish the constraint equation between camera intrinsic parameters and target characteristics, subsequently camera intrinsic parameters are solved linearly. Optimization of camera intrinsic parameters is made by nonlinear optimization method, thus, the camera calibration is accomplished. Simulation and experimental results show that the proposed algorithm is not sensitive to image noise. The measurement accuracy and reliability are effectively improved, and the precision can reach 0.03 pixel, which indicates that the algorithm has advantages of easy implementation, high measurement precision and reliable in the attitude measurement of the cooperative object.