Ion cyclotron waves are widely present upstream from the Martian bow shock, with frequencies near the local proton cyclotron frequency in the spacecraft frame. The waves propagate quasi-parallel to the background magnetic field, and are associated with the solar wind picking up newly-ionized hydrogen from the Martian exosphere. In this work, a typical ion cyclotron wave event was observed by MAVEN (Mars Atmosphere and Volatile Evolution) probe upstream from the Martian bow shock. The further MVA (minimum variance analysis) results for this event show that the magnetic field perturbations are left-handed polarized and propagate quasi-parallel (the propagation angle = 12.37) to the background magnetic field. The relationship between the plasma perturbations and magnetic field perturbations is theoretically derived for slow magnetosonic, Alfv{'e}n, and fast magnetosonic waves based on the magnetohydrodynamic theory. If we take the wave propagation angle = 12.37 estimated from the MVA method, the theoretically expected density perturbation and velocity perturbation along the background magnetic field are in serious disagreement with the MAVEN data. Through fitting the plasma density perturbation, velocity perturbation, and magnetic field perturbation, it is found that the ion cyclotron wave event can be explained by the superposition of oblique fast magnetosonic waves with a propagation angle of 63 relative to the background magnetic field and parallel propagating Alfv{'e}n waves. The results are helpful to further understand the physical nature of the observed ion cyclotron wave-related perturbations upstream from the Martian bow shock, and have guiding implications for the re-modeling and numerical simulation of the plasma physical processes therein.