The invention discloses an initiative binocular vision system overall calibration method which includes the steps that firstly, an initiative binocular vision system is installed and parameters are adjusted, then, camera calibration and three-dimensional calibration are performed, and three-dimensional calibration of the system is achieved; secondly, a laser tracker is used for determining a world coordinate system, deriving relational expressions from a dynamic left camera coordinate system to the world coordinate system and confirming the calibration parameters; thirdly, the system is moved to a posture 1 and a posture 2 in sequence from an initial posture, and the geometrical relationship between the left camera coordinate system and the world coordinate system under each posture is calibrated; finally, a overall calibration constraint equation is set up so as to solve unknown parameters, and overall calibration is finished. The initiative binocular vision system overall calibration method improves the stability and the speed of overall calibration and obtains high overall calibration precision.