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According to the requirement of characteristics of large-scale 3D coordinates on-line measurement system, a method of mobile 3D coordinates measurement camera internal parameters self-calibration was presented in this paper. Through measurements of multiple stations, sufficient pictures of coded targets and un-coded ones were obtained. And a bundle adjustment calibration method based on collinear constraint in computer vision field was used. With the diverse initial values, different calibration results were analyzed to compare the precision. And the experiment results showed the method we presented could obtain preferable results for large-scale 3D coordinates measure occasions.