The invention relates to a magnetic sensor attitude calculation method. The calculation method comprises the following steps: using a non-orthogonal magnetic sensor to measure an elastomer when the elastomer rotates in 360 degrees, subjecting measured data to a filtering treatment by adopting a least square method; substituting the filtered data measured by the magnetic sensor into an integral model to calculate the model function; according to the model function, calculating the pitch angle; calculating the roll angle when the data measure by the non-orthogonal magnetic sensor is zero, and repeating the steps mentioned above so as to calculate the magnetic sensor attitude in real time. The pitch angle is measured on the basis of all data that is measured by a magnetic sensor when an elastomer rotates in 360 degrees, and thus the results are more accurate.