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.