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For the special application in global vision system of soccer robot, a fast and effective calibration algorithm was proposed based on two-stage simplified calibration model. Approximate Euler rotating matrix was used to build camera calibration model with the intrinsic and extrinsic parameters to be achieved. Some mark points on the field were used as reference targets to obtain the initial value of parameters step by step, and L-M method was adopted to optimize all the parameters step by step. Higher calibration precision was proved comparing with other calibration methods from two aspects of calibration error and robot movement realization by experiments. It was shown that by this algorithm the calibration can be realized easily and effectively with 1mm calibration preicsion without special reference target.