A joint calibration method is implemented in an unmanned aerial vehicle. In the method, pose information of a detection radar is obtained, and the pose information includes a ground height of the detection radar and a pitch angle of the detection radar. Target calibration parameters matching the pose information in a preset calibration parameter set are obtained. The calibration parameter set includes groups of calibration parameters, and each group of calibration parameters matching a pose information interval and the pose information interval includes a height interval and a pitch angle interval. A spatial conversion relationship between the detection radar and an image acquisition device is determined based on the target calibration parameters.