The invention discloses a pre-coding method for a MIMO multi-relay system with antenna correlation and channel estimation errors. According to the method, with a condition that antenna correlation andestimation errors exist on channels considered, and the maximum power of a transmitting end and a relay end adopted as a constraint, firstly, a relay system based on channel estimation errors and antenna correlation, and a channel model are given, a constrained optimization function satisfying the MMSE criterion and power constraint is constructed, the closed-form solutions of a transmitting endpre-coding matrix, a relay pre-coding matrix and a receiving node processing matrix are given; a joint iterative method is adopted to perform alternate update until the algorithm converges, and the optimal solutions of each node matrix are obtained; and the iterative method has good convergence and is easy to implement. Since a condition that antenna correlation and channel estimation errors may both exist in a direct transmission path and two hops of channels in an actual situation is considered, the linear pre-coding method provided by the invention is more in line with the actual transmission situation of the MIMO multi-relay system.