The invention provides a multipath error extraction method based on self-adaptive semi-soft threshold wavelet transform. The multipath error extraction method is applied to the elimination of multi-path errors in a global satellite navigation system. The multipath error extraction method comprises the steps of: firstly, acquiring a residual value of a double-difference pseudo-range by using a satellite observation value, and regarding the residual value as signals to be processed; performing multi-scale analysis on the signals to be processed by using wavelet transform, and extracting a multipath signal to be processed from the signals; and filtering the multipath signal to be processed by means of an FIR filter to obtain a final multipath error signal, wherein a threshold function in wavelet transform adopts a self-defined semi-soft threshold function, and a self-adaptive method is adopted for searching a threshold point. The multipath error extraction method provided by the inventionhas the advantages of small calculation amount, fast calculation speed and high implementability, and is capable of self-adaptive adjustment according to different experimental environments, so as toachieve the best effect of suppressing multipath errors.