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The position of calibration for digital camera had been obtained if the data of object plane, image plane, and imaging system were known. The iterative method of 4-points in the object plane and the image plane respectively had been put forward . The position of the first exposure point in object plane, the height and the angle between the object plane with the image plane had been decided. The method included in a few steps. First, the first exposure point was estimated from imaging characteristic points and the equations had been listed by the geometric relation. Second, the length between the first exposure point in object plane and the first imaging point in image plane had been solved by Mathematica. Third, the drifts in axles of x and y between real first exposure point with estimated first exposure point were inserted into the equations. After several iterations the accurate position of camera could be decided. The length between the first exposure point in object plane and the first imaging point in image plane had been got. The other parameters had been obtained. Finally, the uncertainty of had been estimated based on other imaging information. The relative uncertainty was less than 6%. The new method was simpler than other algorithms.