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Objective: For solving uncalibrated camera pose problem, a novel accurate pose estimation algorithm is proposed based on simultaneous iteration of focal length and pose. Method: First, initial parameters are obtained by the existing algorithms; then, focal length and the position and orientation parameters are as iterative values all together; finally, accurate focal length and pose estimation are obtained. Result: Simulative data and real images are processed by different algorithm. Experimental results show that the proposed algorithm is capable of estimating uncalibrated camera high-precision focal length and pose. Conclusion: An accurate algorithm for uncalibrated camera pose estimation is proposed. Experimental results with simulative data and real images indicate that the precision of proposed algorithm is better than existing methods .