The invention discloses a method for designing a DCMFK (Debiased Converted Measurement Kalman filter) based on an FPGA (Field Programmable Gate Array). Firstly, a system of the DCMFK based on the FPGA is designed. A gain matrix module comprises an average real covariance submodule and a gain matrix submodule; a state update module comprises a coordinate transformation submodule, an average real deviation submodule, an innovation submodule and a state update submodule; a trigonometric function module, a one-step prediction module, a prediction error covariance module, a filter error covariance module, the average real covariance submodule, the gain matrix submodule, the coordinate transformation submodule, the average real deviation submodule, the innovation submodule and the state update submodule respectively invoke floating adding, subtracting, multiplying and dividing operation modules. A hierarchical design is adopted in the method, modules at the bottom layer realize input by utilizing a VHDL (Very High Speed Integrated Circuit Hardware Description Language), and a schematic diagram input manner is adopted by the modules on the top layer; therefore, the method can improve the readability of codes, is easy to divide modules, and is convenient to simulate during designing.