With the steady construction and development of BeiDou Navigation Satellite System, the related technology of BeiDou receivers has made a breakthrough. The current calibration system of BeiDou receivers is not perfect, and the relevant methods must be studied. This paper proposes a simulation test based on satellite navigation signal. Through the multi constellation navigation signal simulator, static and dynamic scenarios were designed to simulate the movement of real satellite navigation signals. The method can realize a calibration test of BeiDou receivers’ navigation precision in different carriers. The method can not only take the advantages of high accuracy, easy operation and repeatability, but also can realize the comprehensive testing of BeiDou receivers in the laboratory condition. The experimental results show that the measurement accuracy of position and velocity in BeiDou has been basically closed to GPS’s, but there is a certain gap on the stability between BeiDou and GPS.