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The pose measurement system navigation of unmanned aerial vehicle (UAV) is usually composed of Inertial Measurement Unit or electronic compass measurement system, which is vulnerable to harmful acceleration vector and the surrounding Local magnetic field around, causing attitude angle calculating is not accurate. According to the problem, an adaptive extended kalman filtering algorithm based on the MARG sensor is put forward. The adaptive measurement noise covariance matrix is adjusted in real-time by piecewise linear function. The utilization rate of the sensor information is improved. The influence of interference on the system attitude estimation is reduced. Eventually, the calculating precision of the attitude Angle is improved. Simulation and experimental results show that the proposed algorithm can effectively improve the anti-interference ability of the pose measurement system navigation.