The invention discloses a color stereoscopic calibration object-based unmanned aerial vehicle calibration method and system. The method comprises the steps of putting a color checkerboard stereoscopic calibration object into a to-be-shot scene; shooting an image of the color checkerboard stereoscopic calibration object in at least three different directions by adopting an unmanned aerial vehicle; linearly solving intrinsic parameters of an unmanned aerial vehicle camera by adopting a vanishing point theory according to the shot image of the color checkerboard stereoscopic calibration object; and determining a geometric restriction relationship between the spatial position of the unmanned aerial vehicle camera and the image by adopting a coordinate projection transformation method according to the intrinsic parameters of the unmanned aerial vehicle camera. According to the method and the system, the color checkerboard stereoscopic calibration object is adopted for performing camera calibration, so that accurate measurement is facilitated, the detection precision is high, the placement is facilitated, and the universality is high; and the calibration of the intrinsic parameters of the camera can be finished only by shooting the image of the color checkerboard stereoscopic calibration object in the at least three different directions and obtaining the intrinsic parameters of the unmanned aerial vehicle camera in combination with the vanishing point theory, so that the use is more convenient. The method and the system can be widely applied to the field of computer vision.