At present, several technical schemes of vector atomic magnetometer have been reported at home and abroad, and a vector atomic magnetometer based on magnetic field rotation-modulation method can realize the continuous measurement of vector magnetic field. In this paper, the working principle of the vector atomic magnetometer based on the magnetic field rotation-modulation method is described, and the design, generation and calibration method of the "rotating magnetic field" are introduced. Then, the superposition magnetic field of the rotating magnetic field and the vector magnetic field is experimentally measured by a pump-probe atomic magnetometer. The coincidences of the average value and peak-to-peak value of the measured magnetic field with the theoretical calculation results are verified, and the origins of the deviation between the average values of the measured magnetic field and the theoretical results are analyzed. At last, the continuous measurement ability of vector atomic magnetometer is verified by experiments. The research content of this paper lays a technical foundation for the development of continuous measurement vector atomic magnetometer.