For the on-orbit space zoom camera, the camera focal length s in a constant process of change; accordingly, compared with calibrating other camera intrinsic parameters, calibrating the focal length has a practical significance for the space zoom camera. With the vanishing points obtained from the solar panel of human-made space satellites, this paper introduces a focal length self-calibration method for the on-orbit space zoom camera. First, the geometrical relationship and infinite homography of vanishing points at various camera positions are used to derive the method. To improve the accuracy and robustness performance of this approach, an optimization method is then proposed to nonlinearly optimize the camera focal length. Finally, simulation and real physical experiments demonstrate that the proposed method is flexible and accurate with good anti-noise interference and real-time capacity. The method proposed in this paper makes more realistic sense for a number of important space tasks. (C) 2019 Optical Society of America