In the practical applications for camera pose estimation, the coordinates of reference points inevitably contain measurement errors, and the magnitude of the errors will not always be the same. If the camera pose is estimated directly without distinguishing the errors, the estimation result may be very different from the true value. Therefore, the weighted orthogonal iterative algorithm is proposed based on the widely used orthogonal iterative algorithm. In this algorithm, the weighted collinear error is taken as the objective function. In each iteration, the weight coefficients are determined according to the re-projection errors in image, and the camera pose estimation results are optimized by the coefficients. This algorithm satisfies the conditions of global convergence, and has the advantages of high precision and good robustness. The experimental results show that the proposed algorithm is effective. The estimation results of the proposed algorithm are significantly better than those of the orthogonal iterative algorithm, when the coordinates of reference points contain different errors. It shows that the proposed algorithm has strong engineering practical values.