If you're using ng-view in your Angular app you can listen for the $viewContentLoaded event and push a tracking event to Google Analytics.
Assuming you've set up your tracking code in your main index.html file with a name of var _gaq and MyCtrl is what you've defined in the ng-controller directive.
function MyCtrl($scope, $location, $window) {
$scope.$on('$viewContentLoaded', function(event) {
$window._gaq.push(['_trackPageView', $location.url()]);
});
}
UPDATE: for new version of google-analytics use this one
function MyCtrl($scope, $location, $window) {
$scope.$on('$viewContentLoaded', function(event) {
$window.ga('send', 'pageview', { page: $location.url() });
});
}