Yes, more accurately than we do if I remember my reading correctly. They were whiz-bang astrononomical observers and calendar-makers.
As a calendar for keeping track of the seasons, the Haab' was a bit inaccurate, since it treated the year as having exactly 365 days, and ignored the extra quarter day (approximately) in the actual tropical year. This meant that the seasons moved with respect to the calendar year by a quarter day each year, so that the calendar months named after particular seasons no longer corresponded to these seasons after a few centuries. The Haab' is equivalent to the wandering 365-day year of the ancient Egyptians.