The invention discloses an aerial triangulation method and device. The method includes the steps that a plurality of shot images are obtained by a camera, and a first image to be processed is determined according to connection points in the shot images; measurement parameters of the first image to be processed are calculated; second images to be processed in the shot images are obtained circularly, and measurement parameters of the second images to be processed are obtained through calculation till measurement parameters of all the shot images are obtained, wherein the second images to be processed are images, with measurement parameters not obtained, in the shot images; the obtained measurement parameters of all the shot images are converted into measurement parameters in the real environment through coordinate conversion. The method and device solve the technical problem that existing images are too large in dip angle and accordingly relative orientation iteration is non-convergent.