减小北斗卫星导航系统接收机的测量误差是提高其性能的主要措施之一。采用时间序列分析法对北斗卫星导航系统接收机模块UM220的测量误差进行建模,并依据模型对测量误差进行卡尔曼滤波。实验结果表明,北斗卫星导航系统接收机的测量误差可采用ARMA(2,2)或ARMA(1,1)模型;卡尔曼滤波后,静态测量误差标准差至少减小了28.86%,动态测量误差标准差至少减小了48.63%。 Reducing Beidou satellite navigation system receiver measurement error is one of the main measures to improve its performance. The time series analysis method was used to model the measurement error of Beidou satellite navigation system receiver module UM220 and the Kalman filter was used to measure the error according to the model. The experimental results show that the measurement error of Beidou satellite navigation system receiver can be ARMA (2,2) or ARMA (1,1) model; after Kalman filtering, the standard error of static measurement error is reduced by at least 28.86%; the dynamic measurement error The standard deviation is reduced by at least 48.63%.