CN104062646B - Segmentation correlation unit, pseudo-random code ranging devices and methods therefor - Google Patents
Segmentation correlation unit, pseudo-random code ranging devices and methods therefor Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a kind of segmentation correlation unit, pseudo-random code ranging devices and methods therefor.Segmentation correlation unit includes: the spread spectrum signal sequence of delay buffer module caching input, after delay scheduled time, spread spectrum signal sequence is sequentially divided into First ray section, the second tract, the 3rd tract and the 4th tract, and input the 4th correlation module, third phase close module, the second correlation module and the first correlation module respectively；Local code order module obtains local pseudo-code sequence, local pseudo-code sequence is ranked up according to the second order, local pseudo-code sequence after sequence is sequentially divided into the first section of pseudo code, the second section of pseudo code, the 3rd section of pseudo code and the 4th section of pseudo code, and inputs the first correlation module, the second correlation module, third phase pass module and the 4th correlation module respectively；Four correlation modules carry out related operation to tract and the section of pseudo code of input, export relevant peaks；Data transformation module selects the relevant peaks output that correlation is maximum.The present invention is it can be avoided that lose chip.
Description
Technical field
The present invention relates to pseudo-random code ranging technical field, especially a kind of segmentation correlation unit, further relate to a kind of pseudo-
Code range unit and Pseudo Code Ranging Method.
Background technology
Pseudo-code is the abbreviation of pseudo noise code, is the spread spectrum code used in spread spectrum communication.The signal period of pseudo-code can
The longest to be made, correlation properties are sharp-pointed, and the method using coherent detection not only can make range accuracy be carried
Height, also has certain capacity of resisting disturbance.Owing to pseudo-random code ranging is that the difference by comparing between receiving and transmitting signal is come
Measuring pseudorange, the precision that therefore range finding can reach is closely related with pseudo-code tracing performance.
Along with the requirement of range accuracy is more and more higher, the accurately estimation of pseudo-code phase, tracking become high accuracy puppet
The key of code range finding.Conventional phase estimation method to receive continuously or the cycle receives multiple pseudo-codes, needs
Substantial amounts of data are accumulated as basis, need to consume the longer time, could accurately draw transmitting and receive signal
Phase contrast.But, conventional phase estimation method is not suitable for burst communication, because burst communication is different
In common communication mode, data communication completed in moment, and the persistent period is short.If still using the phase of routine
Position method of estimation, when carrying out local pseudo-code switching, at least needs 10 clock weeks due to switching time
Phase, therefore, and in the meantime owing to continuing at reception spread-spectrum signal, the chip that can result in spread-spectrum signal is lost
Lose, thus range accuracy can be affected.
Summary of the invention
The technical problem to be solved is: for the problem of above-mentioned existence, it is provided that a kind of segmentation is correlated with
Unit, pseudo-random code ranging devices and methods therefor, it is possible to avoid losing chip.
The technical solution used in the present invention is as follows:
A kind of segmentation correlation unit is provided, including delay buffer module, local code order module, first is correlated with
Module, the second correlation module, third phase pass module, the 4th correlation module and data transformation module, wherein,
Spread spectrum, for caching the spread spectrum signal sequence of input, is believed after delay scheduled time by described delay buffer module
Number sequence is sequentially divided into First ray section, the second tract, the 3rd tract and the 4th tract, and will
Described 4th tract input is to described first correlation module, by described 3rd tract input to described second
Correlation module, closes module to described third phase, by defeated for described First ray section by described second tract input
Entering to described 4th correlation module, wherein, described spread spectrum signal sequence is with the first order sequence；Described this locality
Code order module is used for obtaining local pseudo-code sequence, arranges described local pseudo-code sequence according to the second order
Sequence, is sequentially divided into the first section of pseudo code, the second section of pseudo code, the 3rd pseudo-code by the local pseudo-code sequence after sequence
Section and the 4th section of pseudo code, and by described first section of pseudo code input to described first correlation module, by described second
Described 3rd section of pseudo code input, to described second correlation module, is closed mould to described third phase by section of pseudo code input
Block, by described 4th section of pseudo code input to described 4th correlation module, wherein, described first order is with described
Second order is contrary, and the length of described local pseudo-code sequence and described spread spectrum signal sequence is equal, and described the
One tract and described 4th section of pseudo code length are equal, described second tract and described 3rd section of pseudo code length
Equal, described 3rd tract and described second section of pseudo code length are equal, described 4th tract and described
One section of pseudo code length is equal；Described first correlation module is for entering described 4th tract and the first section of pseudo code
Row related operation, output relevant peaks is to described data transformation module；Described second correlation module is for described
3rd tract and the second section of pseudo code carry out related operation, and output relevant peaks is to described data transformation module；Institute
Stating third phase and close module for described second tract and the 3rd section of pseudo code carry out related operation, output is relevant
Peak is to described data transformation module；Described 4th correlation module is for described First ray section and the 4th pseudo-code
Duan Jinhang related operation, output relevant peaks is to described data transformation module；Described data transformation module for than
More described first correlation module, the second correlation module, third phase close module and the phase of the 4th correlation module output
Guan Feng, and export the relevant peaks that correlation is maximum.
Wherein, the described scheduled time is 96 clock cycle.
Also providing for a kind of pseudo-random code ranging device, described device includes signal transmitting and receiving unit, sequencing unit, this locality
Code signal generating unit, relevant peaks decision unit, range cells and three aforesaid segmentation correlation units, wherein,
Described signal transmitting and receiving unit is used for emission detection signal, and receives the spread-spectrum signal sequence responding described detectable signal
Row；Described order module is for being ranked up according to the first order the spread spectrum signal sequence received；Described
Ground code signal generating unit is used for generating the local pseudo-code sequence that three length is equal, and by described three local pseudo-codes
Sequence is separately input into described three segmentation correlation units, wherein, between described three local pseudo-code sequences
Difference is 1/2 chip；Described relevant peaks decision unit is for obtaining described three segmentation correlation units output
Relevant peaks, and calculate the jitter value of each relevant peaks successively, if described jitter value is in preset range,
Select the relevant peaks input extremely described range cells that correlation is maximum；Described range cells is used for calculating described spy
Survey signal and the time interval of described relevant peaks, and calculate distance according to described time interval.
Wherein, described relevant peaks decision unit is additionally operable to the jitter value in described three relevant peaks the most not described
Time in preset range, send phase modulation instruction to described local code signal generating unit；Described local code signal generating unit is also
For described three local pseudo-code sequences being shifted according to the instruction of described phase modulation.
Wherein, described preset range is-0.5-0.5.
Also providing for a kind of Pseudo Code Ranging Method, described method includes: emission detection signal, and receives response institute
State the spread spectrum signal sequence of detectable signal；The spread spectrum signal sequence received is ranked up according to the first order
After, cache described spread spectrum signal sequence, after delay scheduled time, spread spectrum signal sequence is sequentially divided into
One tract, the second tract, the 3rd tract and the 4th tract；Generate this locality that three length is equal
Pseudo-code sequence, is ranked up according to the second order, by the local pseudo-code after sequence described local pseudo-code sequence
Sequence is sequentially divided into the first section of pseudo code, the second section of pseudo code, the 3rd section of pseudo code and the 4th section of pseudo code, wherein,
Difference between described three local pseudo-code sequences is 1/2 chip, described first order and described second order
On the contrary, the length of described local pseudo-code sequence and described spread spectrum signal sequence is equal, and described First ray section
Equal with described 4th section of pseudo code length, described second tract and described 3rd section of pseudo code length are equal, institute
State the 3rd tract and described second section of pseudo code length is equal, described 4th tract and described first section of pseudo code
Length is equal；To each local first section of pseudo code of pseudo-code sequence, the second section of pseudo code, the 3rd section of pseudo code and the
Four section of pseudo code respectively with the 4th tract of spread spectrum signal sequence, the 3rd tract, the second tract and first
Tract carries out related operation, exports three groups of relevant peaks, and the quantity often organizing relevant peaks is four；From often organizing phase
Guan Fengzhong selects the relevant peaks that correlation is maximum, obtains three relevant peaks；Calculate each relevant peaks successively
Jitter value, if described jitter value is in preset range, selects the relevant peaks that correlation is maximum；Calculate described
Detectable signal and the time interval of described relevant peaks, and calculate distance according to described time interval.
Wherein, the described scheduled time is 96 clock cycle.
Wherein, the described jitter value calculating each relevant peaks successively, if described jitter value is at preset range
In, select the step of the relevant peaks of correlation maximum also to include: if the jitter value of described three relevant peaks is equal
Time not in described preset range, send phase modulation instruction；According to the instruction of described phase modulation to described three local puppets
Code sequence shifts.
Wherein, described preset range is-0.5-0.5.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows: by by this locality
Pseudo-code sequence and spread spectrum signal sequence segmentation, and every with local pseudo-code sequence after spread spectrum signal sequence is postponed
One section carries out related operation respectively, thus by the escape time of delay compensation this locality pseudo-code sequence, it is to avoid lose
Lose chip, can rapidly and accurately detect relevant peaks.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is the structural representation of segmentation correlation unit of the present invention.
Fig. 2 is the structural representation of the correlation module of segmentation correlation unit.
Fig. 3 is the structural representation of pseudo-random code ranging device of the present invention.
Fig. 4 is the schematic flow sheet of Pseudo Code Ranging Method of the present invention.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, except mutually
Beyond the feature repelled mutually and/or step, all can combine by any way.
Any feature disclosed in this specification, unless specifically stated otherwise, all can by other equivalence or have similar
The alternative features of purpose is replaced.I.e., unless specifically stated otherwise, each feature is a series of equivalence or class
Like an example in feature.
As it is shown in figure 1, be the structural representation of segmentation correlation unit of the present invention.Segmentation correlation unit includes prolonging
Slow storing module 11, local code order module the 12, first correlation module the 13, second correlation module 14,
Three correlation module the 15, the 4th correlation module 16 and data transformation module 17.
Delay buffer module 11, for caching the spread spectrum signal sequence of input, will expand after delay scheduled time
Frequently signal sequence is sequentially divided into First ray section, the second tract, the 3rd tract and the 4th tract,
And by the 4th tract input to the first correlation module, by the 3rd tract input to the second correlation module, will
Second tract input closes module to third phase, inputs First ray section to the 4th correlation module, wherein,
Spread spectrum signal sequence is with the first order sequence.
Wherein, the original order of spread spectrum signal sequence can not be the first order, but is being input to delay buffer
During module 11, sequentially input with first.First ray section that spread spectrum signal sequence is divided, second
The length of tract, the 3rd tract and the 4th tract can be unequal.
Local code order module 12 is used for obtaining local pseudo-code sequence, suitable according to second to local pseudo-code sequence
Sequence is ranked up, will sequence after local pseudo-code sequence be sequentially divided into the first section of pseudo code, the second section of pseudo code,
3rd section of pseudo code and the 4th section of pseudo code, and the first section of pseudo code is inputted to the first correlation module, by the second pseudo-code
3rd section of pseudo code input, to the second correlation module, is closed module to third phase, by defeated for the 4th section of pseudo code by section input
Entering to the 4th correlation module, wherein, the first order and the second order are contrary, local pseudo-code sequence and spread spectrum letter
The length of number sequence is equal, and First ray section and the 4th section of pseudo code length equal, the second tract and the 3rd
Section of pseudo code length is equal, and the 3rd tract and the second section of pseudo code length are equal, the 4th tract and the first pseudo-code
Segment length is equal.
First correlation module 13, for the 4th tract and the first section of pseudo code carry out related operation, exports phase
Guan Feng is to data transformation module 17；Second correlation module 14 is for entering the 3rd tract and the second section of pseudo code
Row related operation, output relevant peaks is to data transformation module 17；Third phase closes module 15 for the second sequence
Row section and the 3rd section of pseudo code carry out related operation, and output relevant peaks is to data transformation module 17；4th relevant mode
Block 16 for carrying out related operation to First ray section and the 4th section of pseudo code, and output relevant peaks converts to data
Module 17.
Wherein, local pseudo-code sequence can be locally generated.Second order of local pseudo-code sequence can be former
Beginning order.Local first section of pseudo code of pseudo-code sequence, the second section of pseudo code, the 3rd section of pseudo code and the 4th section of pseudo code
Length can be unequal.Owing to spread spectrum signal sequence have passed through delay, it is possible to compensate the escape time.
In the present embodiment, the scheduled time is 96 clock cycle.As an example it is assumed that spread spectrum signal sequence is
(P128, P127 ..., P1), local pseudo-code sequence be (H1, H2 ..., H128).Spread spectrum signal sequence is divided
Duan Hou, First ray section be (P128, P127 ..., P97), the second tract be (P96, P95 ..., P65),
3rd tract be (P64, P63 ..., P33), the 4th tract be (P32, P31 ..., P1).This locality is pseudo-
Code sequence segment after, the first section of pseudo code be (H1, H2 ..., H32), the second section of pseudo code is
(H33, H34 ..., H64), the 3rd section of pseudo code be (H65, H66 ..., H96), the 4th section of pseudo code is
(H97,H98…,H128)。
Local code order module 12 exports four section of pseudo code in fixed position, and A2 output first is pseudo-the most in the drawings
Code section (H1, H2 ..., H32), B2 export the second section of pseudo code for (H33, H34 ..., H64), defeated at C2
Go out the 3rd section of pseudo code for (H65, H66 ..., H96), D2 output the 4th section of pseudo code be (H97, H98 ..., H128).
And after delay buffer module 11 postpones 96 clock cycle, in A1 output First ray section be
(P128, P127 ..., P97), B1 export the second tract for (P96, P95 ..., P65), defeated at C1
Go out the 3rd tract for (P64, P63 ..., P33), D1 output the 4th tract be (P32, P31 ..., P1).
So the first section of pseudo code (H1, H2 ..., H32) and the 4th tract (P32, P31 ..., P1) can synchronize to produce
Raw relevant peaks, the second section of pseudo code (H33, H34 ..., H64) and the 3rd tract (P64, P63 ..., P33) can
To synchronize to produce relevant peaks, the 3rd section of pseudo code (H65, H66 ..., H96) and the second tract
(P96, P95 ..., P65) can synchronize produce relevant peaks, the 4th section of pseudo code (H97, H98 ..., H128) and
First ray section (P128, P127 ..., P97) can synchronize to produce relevant peaks.
It should be noted that, owing to differing certain between A1, B1, C1 and D1 position of delay buffer module 11
Time delay, the summation of these time delays is equal to 96 clock cycle.If 1, B1, C1 and D1 position
Between time delay be 32 clock cycle, then delay buffer module 11 postpone first 32
During the clock cycle, can D1 export First ray section (P128, P127 ..., P97), but First ray section
(P128, P127 ..., P97) and the first section of pseudo code (H1, H2 ..., H32) can not be correlated with successfully, so not having
Relevant peaks is had to export, so delay buffer module 11 continues delay buffer spread spectrum signal sequence.To the 64th with
During the clock cycle, D1 export the second tract (P96, P95 ..., P65), C1 exports First ray section
(P128, P127 ..., P97), but First ray section (P128, P127 ..., P97) and the second section of pseudo code
(H33, H34 ..., H64) can not be correlated with successfully, so not having relevant peaks to export, the second tract
(P96, P95 ..., P65) and the first section of pseudo code (H1, H2 ..., H32) can not be correlated with successfully, so also
Relevant peaks is not had to export.By that analogy, during until being deferred to the 96th clock cycle, all of tract
Could be perfectly correlated with section of pseudo code, in the meantime, four correlation modules 13,14,15,16 need to carry out
Energy Estimation, carries out thresholding and compares and carry out sum of products accumulating operation etc. and be required for the cost time, these time
Between constitute the escape time, but the escape time is generally without departing from 96 clock cycle, so spread-spectrum signal
The time delay of sequence can compensate for the escape time, it is to avoid chip runs off or loses.
In the present embodiment, four correlation modules 13,14,15,16 are matched filtering device.
Data transformation module 17 is used for comparing first correlation module the 13, second correlation module 14, third phase closes
Module 15 and the relevant peaks of the 4th correlation module 16 output, and export the relevant peaks that correlation is maximum.
As in figure 2 it is shown, be the structural representation of the correlation module of segmentation correlation unit.Four correlation modules are equal
Use 32 matched filtering devices.It is by input signal x (n) that correlation module carries out the detailed process of related operation
Carry out product calculation with each chip of local code sequence, then result of product is carried out sum operation.In figure
Be diagrammatically only by out three adders and four multipliers, actual quantity should have 32 multipliers and 31 add
Musical instruments used in a Buddhist or Taoist mass.
As it is shown on figure 3, be the structural representation of pseudo-random code ranging device of the present invention.Pseudo-random code ranging device includes letter
Number Transmit-Receive Unit 21, sequencing unit 22, segmentation correlation unit 23, segmentation correlation unit 24, segmentation are correlated with
Unit 25, local code signal generating unit 26, relevant peaks decision unit 27 and range cells 28.Wherein, segmentation
It is relevant single that correlation unit 23, segmentation correlation unit 24 are the segmentation shown in Fig. 1 with segmentation correlation unit 25
Unit.
Signal transmitting and receiving unit 21 is for emission detection signal, and receives the spread-spectrum signal sequence of echo probe signal
Row.
Order module 22 is for being ranked up according to the first order the spread spectrum signal sequence received.
Local code signal generating unit 26 is used for generating the local pseudo-code sequence that three length is equal, and by three bases
Ground pseudo-code sequence is separately input into three segmentation correlation units 23,24,25, wherein, three local pseudo-code sequences
Difference between row is 1/2 chip.
Wherein, in three local pseudo-code sequences, if it is assumed that the phase place of a local code sequence is " 0 ", that
The phase place of other two local code sequences advanced 1/2 chip and delayed 1/2 chip respectively.Three not homophases
The local pseudo-code sequence of position is separately input into three segmentation correlation units 23,24,25, and three segmentations are relevant single
Unit 23,24,25 will export different relevant peaks respectively to relevant peaks decision circuit 27.
The relevant peaks that relevant peaks decision unit 27 exports for three segmentation correlation units 23,24,25 of acquisition,
And calculate the jitter value of each relevant peaks successively, if jitter value is in preset range, select correlation
Big relevant peaks inputs to range cells 28.
Wherein, relevant peaks decision unit 27 is additionally operable to do not making a reservation at the jitter value of described three relevant peaks
In the range of time, to local code signal generating unit send phase modulation instruction.Local code signal generating unit 26 is additionally operable to basis
Three local pseudo-code sequences are shifted by phase modulation instruction.After displacement, this locality that originally phase place is advanced or delayed
The phase place of pseudo-code sequence becomes the phase place of the local pseudo-code sequence that " 0 ", originally phase place are " 0 " and becomes advanced
Or delayed 1/2 chip,
In the present embodiment, preset range is preferably-0.5-0.5.The process calculating jitter value is:
Choosing phase place for relevant peaks corresponding to the local pseudo-code sequence of " 0 ", its correlation is designated as P, then other
The correlation of the corresponding relevant peaks of two local pseudo-code sequences is designated as E and L respectively, then the trembling of correlation P
Dynamic value is:
Wherein, Δ x is the jitter value of correlation P.If the absolute value of jitter value is less than 0.5, then choose
The relevant peaks of three correlation maximums exports to range finder module 28.
Range cells 28 is for calculating the time interval of detectable signal and relevant peaks, and surveys according to time interval
Calculate distance.
As shown in Figure 4, it is the schematic flow sheet of Pseudo Code Ranging Method of the present invention.Pseudo Code Ranging Method includes:
S31: emission detection signal, and receive the spread spectrum signal sequence of echo probe signal.
S32: after the spread spectrum signal sequence received is ranked up according to the first order, cache spread-spectrum signal sequence
Row, after delay scheduled time, spread spectrum signal sequence is sequentially divided into First ray section, the second tract,
3rd tract and the 4th tract.
Wherein, the original order of spread spectrum signal sequence can not be the first order, but is being input to delay buffer
During module 11, sequentially input with first.First ray section that spread spectrum signal sequence is divided, second
The length of tract, the 3rd tract and the 4th tract can be unequal.In the present embodiment, pre-timing
Between be 96 clock cycle.
S33: generate the local pseudo-code sequence that three length is equal, to local pseudo-code sequence according to the second order
Be ranked up, the local pseudo-code sequence after sequence is sequentially divided into the first section of pseudo code, the second section of pseudo code, the
Three section of pseudo code and the 4th section of pseudo code, wherein, the difference between three local pseudo-code sequences is 1/2 chip, the
One order and the second order are contrary, and the length of local pseudo-code sequence and spread spectrum signal sequence is equal, and the first sequence
Row section and the 4th section of pseudo code length are equal, and the second tract and the 3rd section of pseudo code length are equal, the 3rd tract
Equal with the second section of pseudo code length, the 4th tract and the first section of pseudo code length are equal.
Wherein, in three local pseudo-code sequences, if it is assumed that the phase place of a local code sequence is " 0 ", that
The phase place of other two local code sequences advanced 1/2 chip and delayed 1/2 chip respectively.
S34: to each local first section of pseudo code of pseudo-code sequence, the second section of pseudo code, the 3rd section of pseudo code and the
Four section of pseudo code respectively with the 4th tract of spread spectrum signal sequence, the 3rd tract, the second tract and first
Tract carries out related operation, exports three groups of relevant peaks, and the quantity often organizing relevant peaks is four.
Wherein, a local pseudo-code sequence the 4th tract of the first section of pseudo code and spread spectrum signal sequence enter
Row related operation, obtains a relevant peaks；This this locality pseudo-code sequence the second section of pseudo code and spread-spectrum signal sequence
3rd tract of row carries out related operation, obtains a relevant peaks；This this locality pseudo-code sequence the 3rd pseudo-
Code section carries out related operation with the second tract of spread spectrum signal sequence, obtains a relevant peaks；This this locality is pseudo-
Code sequence the First ray section of the 4th section of pseudo code and spread spectrum signal sequence carry out related operation, obtain one
Relevant peaks.Total obtains one group of relevant peaks, and quantity is four.
S35: from often organizing the relevant peaks selecting correlation maximum relevant peaks, obtain three relevant peaks.
S36: calculate the jitter value of each relevant peaks successively, if jitter value is in preset range, selects
The relevant peaks that correlation is maximum.
Wherein, preset range is preferably-0.5-0.5.The process calculating jitter value is:
Choosing phase place for relevant peaks corresponding to the local pseudo-code sequence of " 0 ", its correlation is designated as P, then other
The correlation of the corresponding relevant peaks of two local pseudo-code sequences is designated as E and L respectively, then the trembling of correlation P
Dynamic value is:
Wherein, Δ x is the jitter value of correlation P.If the absolute value of jitter value is less than 0.5, then choose three
The relevant peaks that in individual relevant peaks, correlation is maximum.
Alternatively, step S36 also includes: if the jitter value of three relevant peaks the most not within the predefined range time,
Transmission phase modulation instructs；According to phase modulation instruction, three local pseudo-code sequences are shifted.Repeat after displacement
Step S35.After displacement, the originally phase place of the local pseudo-code sequence that phase place is advanced or delayed becomes " 0 ", former
The phase place carrying out the local pseudo-code sequence that phase place is " 0 " becomes advanced or delayed 1/2 chip.
S37: calculate detectable signal and the time interval of relevant peaks, and calculate distance according to time interval.
By the way, the segmentation correlation unit of the present invention, pseudo-random code ranging devices and methods therefor are by expansion
Frequently signal sequence and local pseudo-code sequence carry out reverse order sequence, and by spread spectrum signal sequence and local pseudo-code
Sequence carries out segmentation, carries out related operation the most respectively, due to spread spectrum signal sequence and local pseudo-code sequence row
Sequence is contrary, can be correlated with successfully after needing delay scheduled time, thus when the scheduled time can compensate escape
Between, spread spectrum signal sequence would not produce the situation that chip runs off or loses during persistent cache, permissible
Rapidly and accurately detect relevant peaks, in the case of burst communication, be especially more capable of detecting when relevant peaks,
Range accuracy will greatly improve.
The invention is not limited in aforesaid detailed description of the invention.The present invention expand to any in this manual
Disclose new feature or any new combination, and disclose arbitrary new method or the step of process or any
New combination.
Claims (9)
1. a segmentation correlation unit, it is characterised in that include delay buffer module, local code order module, the first correlation module, the second correlation module, third phase close module, the 4th correlation module and data transformation module, wherein,
Described delay buffer module is for caching the spread spectrum signal sequence of input, after delay scheduled time, spread spectrum signal sequence is sequentially divided into First ray section, the second tract, the 3rd tract and the 4th tract, and by described 4th tract input to described first correlation module, by described 3rd tract input to described second correlation module, described second tract input is closed module to described third phase, by the input of described First ray section to described 4th correlation module, wherein, described spread spectrum signal sequence is with the first order sequence；
nullDescribed local code order module is used for obtaining local pseudo-code sequence，Described local pseudo-code sequence is ranked up according to the second order，Local pseudo-code sequence after sequence is sequentially divided into the first section of pseudo code、Second section of pseudo code、3rd section of pseudo code and the 4th section of pseudo code，And by described first section of pseudo code input to described first correlation module，By described second section of pseudo code input to described second correlation module，Described 3rd section of pseudo code input is closed module to described third phase，By described 4th section of pseudo code input to described 4th correlation module，Wherein，Described first order and described second order are contrary，The length of described local pseudo-code sequence and described spread spectrum signal sequence is equal，And described First ray section and described 4th section of pseudo code length equal，Described second tract and described 3rd section of pseudo code length are equal，Described 3rd tract and described second section of pseudo code length are equal，Described 4th tract and described first section of pseudo code length are equal；
Described first correlation module is for carrying out related operation to described 4th tract and the first section of pseudo code, defeated
Go out relevant peaks to described data transformation module；Described second correlation module for carrying out related operation to described 3rd tract and the second section of pseudo code, and output relevant peaks is to described data transformation module；Described third phase closes module and is used for carrying out described second tract and the 3rd section of pseudo code related operation, and output relevant peaks is to described data transformation module；Described 4th correlation module for carrying out related operation to described First ray section and the 4th section of pseudo code, and output relevant peaks is to described data transformation module；
Described data transformation module is closed module and the relevant peaks of the 4th correlation module output for relatively described first correlation module, the second correlation module, third phase, and is exported the relevant peaks that correlation is maximum.
2. according to the segmentation correlation unit described in claim 1, it is characterised in that the described scheduled time is 96 clock cycle.
3. a pseudo-random code ranging device, it is characterised in that described device include signal transmitting and receiving unit, sequencing unit, local code signal generating unit, relevant peaks decision unit, range cells and three according to the segmentation correlation unit described in claim 1 or 2, wherein,
Described signal transmitting and receiving unit is used for emission detection signal, and receives the spread spectrum signal sequence responding described detectable signal；
Described sequencing unit is for being ranked up according to the first order the spread spectrum signal sequence received；
Described local code signal generating unit is for generating the local pseudo-code sequence that three length is equal, and described three local pseudo-code sequences are separately input into described three segmentation correlation units, and wherein, the difference between described three local pseudo-code sequences is 1/2 chip；
Described relevant peaks decision unit is for obtaining the relevant peaks of described three segmentation correlation units output, and calculates the jitter value of each relevant peaks successively, if described jitter value is in preset range, the relevant peaks selecting correlation maximum inputs to described range cells；
Described range cells is for calculating described detectable signal and the time interval of described relevant peaks, and calculates distance according to described time interval.
4., according to the pseudo-random code ranging device described in claim 3, it is characterised in that described relevant peaks decision unit is additionally operable to when the jitter value of described three relevant peaks is the most not in described preset range, send phase modulation instruction to described local code signal generating unit；
Described local code signal generating unit is additionally operable to shift described three local pseudo-code sequences according to the instruction of described phase modulation.
5. according to the pseudo-random code ranging device described in claim 3 or 4, it is characterised in that described preset range is-0.5-0.5.
6. a Pseudo Code Ranging Method, it is characterised in that described method includes:
Emission detection signal, and receive the spread spectrum signal sequence responding described detectable signal；
After the spread spectrum signal sequence received is ranked up according to the first order, caches described spread spectrum signal sequence, after delay scheduled time, spread spectrum signal sequence is sequentially divided into First ray section, the second tract, the 3rd tract and the 4th tract；
Generate the local pseudo-code sequence that three length is equal, described local pseudo-code sequence is ranked up according to the second order, local pseudo-code sequence after sequence is sequentially divided into the first section of pseudo code, second section of pseudo code, 3rd section of pseudo code and the 4th section of pseudo code, wherein, difference between described three local pseudo-code sequences is 1/2 chip, described first order and described second order are contrary, the length of described local pseudo-code sequence and described spread spectrum signal sequence is equal, and described First ray section and described 4th section of pseudo code length equal, described second tract and described 3rd section of pseudo code length are equal, described 3rd tract and described second section of pseudo code length are equal, described 4th tract and described first section of pseudo code length are equal；
To each local first section of pseudo code of pseudo-code sequence, the second section of pseudo code, the 3rd section of pseudo code and the 4th section of pseudo code, the 4th tract, the 3rd tract, the second tract and First ray section with spread spectrum signal sequence carries out related operation respectively, exporting three groups of relevant peaks, the quantity often organizing relevant peaks is four；
From often organizing the relevant peaks selecting correlation maximum relevant peaks, obtain three relevant peaks；
Calculate the jitter value of each relevant peaks successively, if described jitter value is in preset range, select the relevant peaks that correlation is maximum；
Calculate described detectable signal and the time interval of described relevant peaks, and calculate distance according to described time interval.
7. according to the Pseudo Code Ranging Method described in claim 6, it is characterised in that the described scheduled time is 96 clock cycle.
8., according to the Pseudo Code Ranging Method described in claim 6, it is characterised in that the described jitter value calculating each relevant peaks successively, if described jitter value is in preset range, select the step of the relevant peaks of correlation maximum also to include:
If the jitter value of described three relevant peaks is not the most in described preset range, send phase modulation instruction；
According to the instruction of described phase modulation, described three local pseudo-code sequences are shifted.
9. according to the Pseudo Code Ranging Method described in claim 6 or 8, it is characterised in that described preset range is-0.5-0.5.
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