Regarding the problem of systematic pseudorange bias in BeiDou navigation system application, the pseudorange observations quality of Beidou triple frequency was analyzed from the multipath angle. The analysis results verified that the bias was related to the type of satellite orbit, satellite elevation angle and the signal frequency. In order to eliminate the effects of this systematic bias, a correction model for triple-frequency pseudorange bias was established with the continuous piecewise linear function. Compared with the traditional correction model, the proposed model used the Beidou measured data from a longer range and considered the accuracy of information of corrections. The correctness and superiority of the proposed model were verified by the experimental results on the basis of the dynamic precise point positioning.