Have a look at this:
http://www.wikihow.com/Find-a-Parasitic-Battery-Drain
In VERY basic terms, your car is using energy when it shouldn't, this is why the battery is draining. Current is energy, voltage is the pressure that pushes the energy down the wires and through the components. To measure this energy you need to put the multimeter into the circuit. This is why you have to disconnect the battery and connect the multimeter in between the the battery and the cars wiring. You don't need to pull each fuse in turn as it says in the wiki guide, just disconnect your sat nav and CD changer in turn and monitor the current levels. When the current drops down to an acceptable level you have found your culprit.
As said previously most modern cars need a bit of time to go fully to sleep, I would leave the car for 30 minutes after disconnecting the battery to let this happen.
If the sat nav or CD changer isn't causing the problem all is not lost, just let me know and I'll walk you through the next stage of fault finding.