Infrared camera array has been widely used in computer vision, remote sensing and computational Imaging. Due to the lack of a infrared camera array imaging model and a high-quality calibration object, high-quality calibration of the intrinsic and extrinsic parameters of the infrared array camera is a challenge. This letter proposes a calibration method for Infrared camera array. Firstly, we propose an infrared camera array imaging model which contains intrinsic, extrinsic and distortion parameters of all sub-cameras of the infrared camera array. Then, we propose an objective function for infrared camera array calibration and use a non-linear algorithm to solve all parameters in infrared camera array calibration model. To get stable infrared checkboard images, we design a constant temperature heating checkboard. Experiment results show our method can efficiently solve intrinsic, extrinsic and distortion parameters with a low reprojection error and an excellent refocusing performance.