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 the measurement error of BeiDou Navigation Satellite System(BDS) receiving module is an effective method to improve its performance. Time series analysis method was utilized to model the measurement error generated from the measuring results of BDS receiving module UM220 and Kalman filtering was used to reduce the measurement error of BDS receiving module according to the built error models. The experiment results show that measurement error of BDS receiving module can be modeled with ARMA(2,2) or ARMA(1,1), and through Kalman filtering the standard deviation of static sequence is reduced by at least 28.86% and the standard deviation of dynamic sequence is reduced by at least 48.63% compared with the original sequence.