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Regarding the problem of systematic multipath bias on BeiDou navigation system code observations,ten days BeiDou triple-frequency observations of multi-stations were collected,the relationships between the characteristic of multipath bias and the type of the satellite,the signal frequency and the satellite elevation angle were analyse d.In order to solve this problem,a modified sidereal filtering based on zero-phase filter was proposed to mitigate the multipath bias on GEO and IGSO satellites code observations,and elevation-angle correction method was introduced to decrease the multipath bias of IGSO and MEO satellite code observations.