A three-dimensional earth magnetism sensor is developed with pose compensation according to the need of a kind of new integrated navigation strategy which extracts information from polarized-light assisting with geomagnetism and GPS.An overview of the principle of the three-dimensional geomagnetism sensor is summarized. The hardware circuit and the procedure of the system is introduced.The error sources is analyzed and the error analysis and compensation method is studied.The sensor can realize dynamic measurement of the heading angle. the pitch angle and the roll angle.The sensor can be used as an important tool of the earth magnetism navigation. and can also provide navigation information for navigation system of multi-sources of information fusion.