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Phase-smoothed pseudo-range algorithm is the commonly used pseudo-range smoothing algorithm in navigation receivers.This paper analyses characteristics of weight factors of traditional smoothing algorithms and correlations in epochs.Proposes a modified smoothing algorithm based on Doppler frequency shift.This paper compares precisions of M-order,Hatch and this modified smoothing algorithm using original data from BeiDou receivers.Results show the modified algorithm obviously improves precisions of traditional smoothing algorithms,which can offer great reference for designation of pseudo-range algorithm of navigation receivers.