在Ｐｏｏｒ估计算法的基础上，研究了导航系统的位置误差模型，对Ｐｏｏｒ假设进行了修改和补充，将随机过程的各态历经性推广到多元随机过程的各态历经性，提出了Ｐｏｏｒ估计算法必须建立在多元随机过程的各态历经性上才能实现，并给出了实现的充分条件。讨论了导航精度的假设检验问题，提出通过对不同导航系统之间的相对误差进行多元统计分析，来研究各导航系统的精度问题 Based on the poor estimation algorithm, this paper studies the position error model of navigation system, modifies and supplements the hypothesis, and introduces the ergodicity of the ergodicity of the stochastic process to the variability of the multivariate stochastic process. Must be established in the multivariate stochastic process of the ergodicity can be achieved, and gives the sufficient conditions for the realization. The hypothesis test of navigation accuracy is discussed. It is proposed to study the accuracy of navigation systems by multivariate statistical analysis of the relative errors between different navigation systems