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The rotating shafts of high efficiency inserting machine are drive with synchronous belt, it makes the new design insertion module compact and light, but the error of shafts rotation increases when rotate large angle, this will degrade the estimation accuracy of pin pose. In order to solve this problem, a improved pose estimation method based on location constraints and iterative fitting is proposed. The pin of the component is fixed, so all pins pass same angle every time they rotate during rotation measurement, and the rotation trajectories of all the pins are on circles. Base on these two constraints, circular trajectory fitting function and rotation angle fitting function was constructed, by iteratively implementing these two fitting operations, accurate estimation of the rotation angle is obtained, as result the precise position estimation of component pin is achieved. To verify the proposed method, theoretical analysis and simulation was conducted, the results show that the method can restrain the increase of the shafts rotation error when rotate large angle. Under the common pin components and working parameters, the pose error of iterative simulation is controlled within ± 0.018mm and the time costs less than 65ms .The accuracy and efficiency of the proposed method can meet the requirements of automatic inserting machine.