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Ultimately, any explanation of quantum measurement must be extendable to relativistic quantum mechanics (RQM), since many precisely confirmed experimental results follow from quantum field theory (QFT), which is based on RQM. Certainly, the traditional "collapse" postulate for quantum measurement is problematic in a relativistic context, at the very least because, as usually formulated, it violates the relativity of simultaneity. The present paper addresses this with a relativistic model of measurement in which the state of the universe is decomposed into decoherent histories of measurements recorded within it. The approach is essentially Everettian, in the sense that it uses the unmodified, unitary quantum formalism of RQM. But it addresses the difficulty with typical "many worlds" interpretations on how to even define probabilities over different possible ``worlds''. To do this, Zurek's concept of envariance is generalized to the context of relativistic spacetime, giving an objective definition of the probability of any one of the quantum histories, consistent with Born's rule. It is then shown that the statistics of any repeated experiment within the universe also tend to follow the Born rule as the number of repetitions increases. The wave functions that we actually use for such experiments are local reductions of very coarse-grained superpositions of universal eigenstates, and their "collapse" can be re-interpreted as simply an update based on additional incremental knowledge gained from a measurement about the "real" eigenstate of our universe.