The polarization plane of linearly polarized light will rotate when it passes through polarized rubidium vapor under the influence of magnetic field. A rubidium atomic vector magnetometer is realized based on this phenomenon. The operation principle is analyzed and the main performance is tested. Test results show that its sensitivity reaches 1 pT/ Hz with measurement range of ±60 nT and bandwidth of 48 Hz . Some factors that influence the magnetometer performance such as magnetic field modulation and vapor cell temperature are discussed. Some methods to further improve the performance of the magnetometer are proposed.