In order to fill the research gap in the field of external parameter calibration between the camera and the angle of arrival (AoA) base station, the checkerboard calibration board was used to extract the label position from the image, and the optimal external parameter was calculated based on the geometric constraint between the two sensor data. Theoretical analysis and experimental verification were carried out, and the simulation and experimental data were obtained. The results show that, the distance error of the calibration results obtained by this method is within 0.08 m, and the angle error is within 3.5°. The research is helpful for the calibration of external parameters between camera and AoA base station and the design of robot sensing system.