CN104062646A - Segmented relevant unit, pseudo code range unit, and method thereof - Google Patents
Segmented relevant unit, pseudo code range unit, and method thereof Download PDFInfo
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Abstract
The invention discloses a segmented relevant unit, a pseudo code range unit, and a method thereof. The segmented relevant unit comprises a spread spectrum signal sequence which delays the caching input of a cache module. After a reserved period of time is delayed, the spread spectrum signal sequence is divided into a first sequence segment, a second sequence segment, a third sequence segment and a fourth sequence segment according to the sequence. Moreover, the first sequence segment, the second sequence segment, the third sequence segment and the fourth sequence segment are respectively inputted to a fourth relevant module, a third relevant module, a second relevant module, and a first relevant module. A local code sequence module acquires a local pseudo code sequence which is ranked according to a second sequence. After being ranked, the local pseudo code sequence is divided into a first pseudo code segment, a second pseudo code segment, a third pseudo code segment and a fourth pseudo code segment according to the sequence, wherein the first pseudo code segment, the second pseudo code segment, the third pseudo code segment and the fourth pseudo code segment are respectively inputted to the first relevant module, the second relevant module, the third relevant module, and the fourth relevant module. The above four relevant modules perform relevant operation for the inputted sequence segments and pseudo code segments, and output correlated peaks. A data conversion module selects a correlated peak with a maximum correlated value for output. According to the invention, code segments can be prevented from being lost.
Description
Technical field
The present invention relates to pseudo-random code ranging technical field, especially a kind of segmentation correlation unit, also relates to a kind of pseudo-random code ranging device and Pseudo Code Ranging Method.
Background technology
Pseudo-code is the abbreviation of pseudo-random code, is the spreading code adopting in spread spectrum communication.The signal period of pseudo-code can do very longly, and correlation properties are sharp-pointed, adopts the method for coherent detection, not only can make distance accuracy be improved, and also has certain antijamming capability.Because pseudo-random code ranging is that precision and pseudo-code tracing performance that therefore range finding can reach are closely related by relatively differing to measure pseudorange between receiving and transmitting signal.
Along with the requirement of distance accuracy is more and more higher, the accurate estimation of pseudo-code phase, tracking become the key of high precision pseudo-random code ranging.Conventional phase estimation method will receive continuously or the cycle receives a plurality of pseudo-codes, and needing a large amount of data accumulations is basis, needs to consume the longer time, could accurately draw the phase differential that transmits and receives signal.But conventional phase estimation method is not suitable for burst communication, because burst communication is different from common communication mode, data communication completed in moment, and the duration is short.If still adopt conventional phase estimation method, when carrying out local pseudo-code switching, owing at least needing 10 clock period switching time, therefore, and in the meantime owing to continuing at receiving spread frequency signal, just will cause the chip of spread-spectrum signal to be lost, thereby can affect distance accuracy.
Summary of the invention
Technical matters to be solved by this invention is: for the problem of above-mentioned existence, provide a kind of segmentation correlation unit, pseudo-random code ranging devices and methods therefor, can avoid losing chip.
The technical solution used in the present invention is as follows:
A kind of segmentation correlation unit is provided, comprise delay buffer module, local code order module, the first correlation module, the second correlation module, third phase closes module, the 4th correlation module and data transformation module, wherein, described delay buffer module is for the spread spectrum signal sequence of buffer memory 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 described the 4th tract is inputed to described the first correlation module, described the 3rd tract is inputed to described the second correlation module, described the second tract is inputed to described third phase and close module, described First ray section is inputed to described the 4th correlation module, wherein, described spread spectrum signal sequence is with the first order sequence, described local code order module is used for obtaining local pseudo-code sequence, described local pseudo-code sequence is sorted according to the second order, local pseudo-code sequence after sequence is sequentially divided into the first pseudo-code section, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section, and described the first pseudo-code section is inputed to described the first correlation module, described the second pseudo-code section is inputed to described the second correlation module, described the 3rd pseudo-code section is inputed to described third phase and close module, described the 4th pseudo-code section is inputed to described the 4th correlation module, wherein, described the first order and described the second reversed in order, described local pseudo-code sequence and described spread spectrum signal sequence equal in length, and described First ray section and described the 4th pseudo-code segment length equate, described the second tract and described the 3rd pseudo-code segment length equate, described the 3rd tract and described the second pseudo-code segment length equate, described the 4th tract and described the first pseudo-code segment length equate, described the first correlation module is for described the 4th tract and the first pseudo-code section are carried out to related operation, and output relevant peaks is to described data transformation module, described the second correlation module is for described the 3rd tract and the second pseudo-code section are carried out to related operation, and output relevant peaks is to described data transformation module, described third phase closes module for described the second tract and the 3rd pseudo-code section are carried out to related operation, and output relevant peaks is to described data transformation module, described the 4th correlation module is for described First ray section and the 4th pseudo-code section are carried out to related operation, and output relevant peaks is to described data transformation module, described data transformation module is closed the relevant peaks of module and the output of the 4th correlation module for more described the first correlation module, the second correlation module, third phase, and exports the relevant peaks of correlation maximum.
Wherein, the described schedule time is 96 clock period.
A kind of pseudo-random code ranging device is also provided, described device comprises signal transmitting and receiving unit, sequencing unit, local code generation unit, relevant peaks decision unit, range cells and three aforesaid segmentation correlation units, wherein, described signal transmitting and receiving unit is for emission detection signal, and the spread spectrum signal sequence of the described detectable signal of reception response; Described order module is for sorting according to the first order to the spread spectrum signal sequence receiving; Described local code generation unit is used for generating three local pseudo-code sequences equal in length, and described three local pseudo-code sequences are inputed to respectively to described three segmentation correlation units, and wherein, differing between described three local pseudo-code sequences is 1/2 chip; Described relevant peaks decision unit is used for obtaining the relevant peaks of described three segmentation correlation units output, and calculates successively the jitter value of each relevant peaks, if described jitter value in preset range, selects the relevant peaks of correlation maximum to input to described range cells; The time interval of described range cells for calculating described detectable signal and described relevant peaks, and according to described time interval measuring and calculating distance.
Wherein, described relevant peaks decision unit also all not in described preset range time, sends phase modulation instruction to described local code generation unit for the jitter value in described three relevant peaks; Described local code generation unit is also for being shifted to described three local pseudo-code sequences according to described phase modulation instruction.
Wherein, described preset range is-0.5-0.5.
A kind of Pseudo Code Ranging Method is also provided, and described method comprises: emission detection signal, and receive the spread spectrum signal sequence that responds described detectable signal, after the spread spectrum signal sequence receiving is sorted according to the first order, spread spectrum signal sequence described in buffer memory is sequentially divided into spread spectrum signal sequence First ray section, the second tract, the 3rd tract and the 4th tract after delay scheduled time, generate three local pseudo-code sequences equal in length, described local pseudo-code sequence is sorted according to the second order, local pseudo-code sequence after sequence is sequentially divided into the first pseudo-code section, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section, wherein, differing between described three local pseudo-code sequences is 1/2 chip, described the first order and described the second reversed in order, described local pseudo-code sequence and described spread spectrum signal sequence equal in length, and described First ray section and described the 4th pseudo-code segment length equate, described the second tract and described the 3rd pseudo-code segment length equate, described the 3rd tract and described the second pseudo-code segment length equate, described the 4th tract and described the first pseudo-code segment length equate, the first pseudo-code section of each local pseudo-code sequence, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section are carried out to related operation with the 4th tract, the 3rd tract, the second tract and the First ray section of spread spectrum signal sequence respectively, export three groups of relevant peaks, the quantity of every group of relevant peaks is four, from every group of relevant peaks, select the relevant peaks of correlation maximum, obtain three relevant peaks, calculate successively the jitter value of each relevant peaks, if described jitter value, in preset range, is selected the relevant peaks of correlation maximum, calculate the time interval of described detectable signal and described relevant peaks, and according to described time interval measuring and calculating distance.
Wherein, the described schedule time is 96 clock period.
Wherein, the described jitter value that calculates successively each relevant peaks, if described jitter value in preset range, selects the step of the relevant peaks of correlation maximum also to comprise: if the jitter value of described three relevant peaks all not in described preset range time, sends phase modulation instruction; According to described phase modulation instruction, described three local pseudo-code sequences are shifted.
Wherein, described preset range is-0.5-0.5.
In sum, owing to having adopted technique scheme, the invention has the beneficial effects as follows: by by local pseudo-code sequence and spread spectrum signal sequence segmentation, and after being postponed, spread spectrum signal sequence carries out respectively related operation with each section of local pseudo-code sequence, thereby by the escape time of the local pseudo-code sequence of delay compensation, avoid losing chip, can be fast 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.
Embodiment
Disclosed all features in this instructions, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.
Disclosed arbitrary feature in this instructions, unless narration especially all can be replaced by other equivalences or the alternative features with similar object.That is,, unless narration especially, each feature is an example in a series of equivalences or similar characteristics.
As shown in Figure 1, be the structural representation of segmentation correlation unit of the present invention.Segmentation correlation unit comprises that delay buffer module 11, local code order module 12, the first correlation module 13, the second correlation module 14, third phase close module 15, the 4th correlation module 16 and data transformation module 17.
Delay buffer module 11 is for the spread spectrum signal sequence of buffer memory input, spread spectrum signal sequence is sequentially divided into First ray section, the second tract, the 3rd tract and the 4th tract after delay scheduled time, and the 4th tract is inputed to the first correlation module, the 3rd tract is inputed to the second correlation module, the second tract is inputed to third phase and close module, First ray section is inputed to the 4th correlation module, and 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 when being input to delay buffer module 11, with the first order input.The length of the First ray section that spread spectrum signal sequence is divided, the second tract, the 3rd tract and the 4th tract can be unequal.
Local code order module 12 is for obtaining local pseudo-code sequence, local pseudo-code sequence is sorted according to the second order, local pseudo-code sequence after sequence is sequentially divided into the first pseudo-code section, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section, and the first pseudo-code section is inputed to the first correlation module, the second pseudo-code section is inputed to the second correlation module, the 3rd pseudo-code section is inputed to third phase and close module, the 4th pseudo-code section is inputed to the 4th correlation module, wherein, the first order and the second reversed in order, local pseudo-code sequence and spread spectrum signal sequence equal in length, and First ray section and the 4th pseudo-code segment length equate, the second tract and the 3rd pseudo-code segment length equate, the 3rd tract and the second pseudo-code segment length equate, the 4th tract and the first pseudo-code segment length equate.
The first correlation module 13 is for the 4th tract and the first pseudo-code section are carried out to related operation, and output relevant peaks is to data transformation module 17; The second correlation module 14 is for the 3rd tract and the second pseudo-code section are carried out to related operation, and output relevant peaks is to data transformation module 17; Third phase closes module 15 for the second tract and the 3rd pseudo-code section are carried out to related operation, and output relevant peaks is to data transformation module 17; The 4th correlation module 16 is for First ray section and the 4th pseudo-code section are carried out to related operation, and output relevant peaks is to data transformation module 17.
Wherein, local pseudo-code sequence can be generated by this locality.The second order of local pseudo-code sequence can be original order.The length of the first pseudo-code section, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section of local pseudo-code sequence can be unequal.Because spread spectrum signal sequence has passed through delay, so can compensate the escape time.In the present embodiment, the schedule time is 96 clock period.For instance, suppose spread spectrum signal sequence for (P128, P127 ..., P1), local pseudo-code sequence be (H1, H2 ..., H128).By after spread spectrum signal sequence segmentation, First ray section be (P128, P127 ..., P97), the second tract is (P96, P95 ..., P65), the 3rd tract is (P64, P63 ..., P33), the 4th tract is (P32, P31 ..., P1).By after local pseudo-code sequence segmentation, the first pseudo-code section be (H1, H2 ..., H32), the second pseudo-code section is (H33, H34 ..., H64), the 3rd pseudo-code section is (H65, H66 ..., H96), the 4th pseudo-code section is (H97, H98 ..., H128).
Local code order module 12 is in four pseudo-code sections of fixed position output, and A2 exports the first pseudo-code section (H1, H2 in the drawings,, H32), at B2, export the second pseudo-code section for (H33, H34 ... H64), in C2 output the 3rd pseudo-code section, be (H65, H66 ... H96), in D2 output the 4th pseudo-code section, be (H97, H98 ..., H128).And delay buffer module 11 postponed after 96 clock period, in A1 output First ray section, be (P128, P127,, P97), at B1, exporting the second tract is (P96, P95 ... P65), at C1 output the 3rd tract, be (P64, P63 ... P33), at D1 output the 4th tract, be (P32, P31 ..., P1).So the first pseudo-code section (H1, H2 ... H32) with the 4th tract (P32, P31 ..., P1) can synchronously produce relevant peaks, the second pseudo-code section (H33, H34 ..., the H64) He three tract (P64, P63 ... P33) can synchronously produce relevant peaks, the 3rd pseudo-code section (H65, H66 ..., H96) He the second tract (P96, P95 ... P65) can synchronously produce relevant peaks, the 4th pseudo-code section (H97, H98 ... H128) and First ray section (P128, P127 ..., P97) can synchronously produce relevant peaks.
It should be noted that between A1, B1, C1 and the D1 position due to delay buffer module 11 and differ certain time delay, the summation of these time delays equals 96 clock period.If 1, be 32 clock period the time delay between B1, C1 and D1 position, delay buffer module 11, can be at D1 output First ray section (P128 when postponing first 32 clock period so, P127 ..., P97), but First ray section (P128, P127 ... P97) and the first pseudo-code section (H1, H2 ..., H32) can not be correlated with successfully, so there is no relevant peaks output, so delay buffer module 11 continues delay buffer spread spectrum signal sequence.While following the clock period to the 64th, at D1, export the second tract (P96, P95 ..., P65), C1 output First ray section (P128, P127 ..., P97), but First ray section (P128, P127 ..., P97) He the second pseudo-code section (H33, H34 ..., H64) can not be correlated with successfully, so there is no relevant peaks output, the second tract (P96, P95 ..., P65) He the first pseudo-code section (H1, H2,, H32) can not be correlated with successfully, so also there is no relevant peaks output.By that analogy, until while being deferred to the 96th clock period, all tracts and pseudo-code section ability complete dependence, in the meantime, four correlation modules 13,14,15,16 need to carry out energy estimation, and carrying out thresholding comparison and carrying out sum of products accumulating operation etc. all needs spended time, these times have formed the escape time, but the escape time does not exceed 96 clock period conventionally, so can compensate the escape time time delay of spread spectrum signal sequence, avoided chip to run off or lost.
In the present embodiment, four correlation modules 13,14,15,16 are matched filter.
Data transformation module 17 is closed the relevant peaks of module 15 and the 4th correlation module 16 outputs for comparison the first correlation module 13, the second correlation module 14, third phase, and exports the relevant peaks of correlation maximum.
As shown in Figure 2, be the structural representation of the correlation module of segmentation correlation unit.Four correlation modules all adopt 32 matched filters.The detailed process that correlation module carries out related operation is that input signal x (n) is carried out to product calculation with each chip of local code sequence, then result of product is carried out to sum operation.In figure, only illustrated three totalizers and four multipliers, actual quantity should have 32 multipliers and 31 totalizers.
As shown in Figure 3, be the structural representation of pseudo-random code ranging device of the present invention.Pseudo-random code ranging device comprises signal transmitting and receiving unit 21, sequencing unit 22, segmentation correlation unit 23, segmentation correlation unit 24, segmentation correlation unit 25, local code generation unit 26, relevant peaks decision unit 27 and range cells 28.Wherein, segmentation correlation unit 23, segmentation correlation unit 24 and segmentation correlation unit 25 are the segmentation correlation unit shown in Fig. 1.
Signal transmitting and receiving unit 21 is for emission detection signal, and receives the spread spectrum signal sequence of echo probe signal.
Order module 22 is for sorting according to the first order to the spread spectrum signal sequence receiving.
Local code generation unit 26 is for generating three local pseudo-code sequences equal in length, and three local pseudo-code sequences are inputed to respectively to three segmentation correlation units 23,24,25, and wherein, differing between three local pseudo-code sequences is 1/2 chip.
Wherein, in three local pseudo-code sequences, if the phase place of a local code sequence of hypothesis is " 0 ", the phase place of other two local code sequences is distinguished leading 1/2 chip and 1/2 chip that lags behind so.The local pseudo-code sequence of three outs of phase inputs to respectively 23,24,25, three segmentation correlation units 23,24,25 of three segmentation correlation units and will export respectively different relevant peaks to relevant peaks decision circuit 27.
Relevant peaks decision unit 27 is for obtaining the relevant peaks of three segmentation correlation units 23,24,25 output, and calculates successively the jitter value of each relevant peaks, if jitter value in preset range, selects the relevant peaks of correlation maximum to input to range cells 28.
Wherein, relevant peaks decision unit 27 also all not in preset range time, sends phase modulation instruction to local code generation unit for the jitter value in described three relevant peaks.Local code generation unit 26 is also for being shifted to three local pseudo-code sequences according to phase modulation instruction.After displacement, originally phase place phase place leading or the local pseudo-code sequence that lags behind becomes " 0 ", and the phase place of the local pseudo-code sequence that originally phase place is " 0 " becomes leading or hysteresis 1/2 chip,
In the present embodiment, be preferably-0.5-0.5 of preset range.The process of calculating jitter value is:
Choose relevant peaks corresponding to local pseudo-code sequence that phase place is " 0 ", its correlation is designated as P, and the correlation of the corresponding relevant peaks of other two local pseudo-code sequences is designated as respectively E and L, and the jitter value of correlation P is:
Wherein, Δ x is the jitter value of correlation P.If the absolute value of jitter value is less than 0.5, the relevant peaks of choosing so three correlation maximums exports range finder module 28 to.
Range cells 28 is for calculating the time interval of detectable signal and relevant peaks, and according to time interval measuring and calculating distance.
As shown in Figure 4, be the schematic flow sheet of Pseudo Code Ranging Method of the present invention.Pseudo Code Ranging Method comprises:
S31: emission detection signal, and receive the spread spectrum signal sequence of echo probe signal.
S32: after the spread spectrum signal sequence receiving is sorted according to the first order, buffer memory spread spectrum signal sequence is sequentially divided into spread spectrum signal sequence First ray section, the second tract, the 3rd tract and the 4th tract after delay scheduled time.
Wherein, the original order of spread spectrum signal sequence can not be the first order, but when being input to delay buffer module 11, with the first order input.The length of the First ray section that spread spectrum signal sequence is divided, the second tract, the 3rd tract and the 4th tract can be unequal.In the present embodiment, the schedule time is 96 clock period.
S33: generate three local pseudo-code sequences equal in length, local pseudo-code sequence is sorted according to the second order, local pseudo-code sequence after sequence is sequentially divided into the first pseudo-code section, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section, wherein, differing between three local pseudo-code sequences is 1/2 chip, the first order and the second reversed in order, local pseudo-code sequence and spread spectrum signal sequence equal in length, and First ray section and the 4th pseudo-code segment length equate, the second tract and the 3rd pseudo-code segment length equate, the 3rd tract and the second pseudo-code segment length equate, the 4th tract and the first pseudo-code segment length equate.
Wherein, in three local pseudo-code sequences, if the phase place of a local code sequence of hypothesis is " 0 ", the phase place of other two local code sequences is distinguished leading 1/2 chip and 1/2 chip that lags behind so.
S34: the first pseudo-code section of each local pseudo-code sequence, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section are carried out to related operation with the 4th tract, the 3rd tract, the second tract and the First ray section of spread spectrum signal sequence respectively, export three groups of relevant peaks, the quantity of every group of relevant peaks is four.
Wherein, a local pseudo-code sequence the first pseudo-code section and the 4th tract of spread spectrum signal sequence carry out related operation, obtain a relevant peaks; This this locality pseudo-code sequence the second pseudo-code section and the 3rd tract of spread spectrum signal sequence carry out related operation, obtain a relevant peaks; This this locality pseudo-code sequence the 3rd pseudo-code section and the second tract of spread spectrum signal sequence carry out related operation, obtain a relevant peaks; This this locality pseudo-code sequence the 4th pseudo-code section and the First ray section of spread spectrum signal sequence carry out related operation, obtain a relevant peaks.Total obtains one group of relevant peaks, and quantity is four.
S35: select the relevant peaks of correlation maximum from every group of relevant peaks, obtain three relevant peaks.
S36: calculate successively the jitter value of each relevant peaks, if jitter value, in preset range, is selected the relevant peaks of correlation maximum.
Wherein, be preferably-0.5-0.5 of preset range.The process of calculating jitter value is:
Choose relevant peaks corresponding to local pseudo-code sequence that phase place is " 0 ", its correlation is designated as P, and the correlation of the corresponding relevant peaks of other two local pseudo-code sequences is designated as respectively E and L, and the jitter value of correlation P is:
Wherein, Δ x is the jitter value of correlation P.If the absolute value of jitter value is less than 0.5, choose the relevant peaks of correlation maximum in three relevant peaks.
Alternatively, step S36 also comprises: if the jitter value of three relevant peaks all not in preset range time, sends phase modulation instruction; According to phase modulation instruction, three local pseudo-code sequences are shifted.After displacement, repeat step S35.After displacement, originally phase place phase place leading or the local pseudo-code sequence that lags behind becomes " 0 ", and the phase place of the local pseudo-code sequence that originally phase place is " 0 " becomes leading or hysteresis 1/2 chip.
S37: calculate the time interval of detectable signal and relevant peaks, and according to time interval measuring and calculating distance.
By the way, segmentation correlation unit of the present invention, pseudo-random code ranging devices and methods therefor is by carrying out reverse order sequence to spread spectrum signal sequence and local pseudo-code sequence, and spread spectrum signal sequence and local pseudo-code sequence are carried out to segmentation, then carry out respectively related operation, because spread spectrum signal sequence is contrary with the sequence of local pseudo-code sequence, need can be correlated with successfully after delay scheduled time, thereby the schedule time can compensate the escape time, spread spectrum signal sequence just can not produce the situation that chip runs off or loses in persistent cache process, can be fast and accurately detect relevant peaks, especially the in the situation that of burst communication, more can detect relevant peaks, distance accuracy will greatly improve.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature or any new combination disclosing in this manual, and the arbitrary new method disclosing or step or any new combination of process.
Claims (9)
1. a segmentation correlation unit, is characterized in that, comprises that 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 the spread spectrum signal sequence of buffer memory input, spread spectrum signal sequence is sequentially divided into First ray section, the second tract, the 3rd tract and the 4th tract after delay scheduled time, and described the 4th tract is inputed to described the first correlation module, described the 3rd tract is inputed to described the second correlation module, described the second tract is inputed to described third phase and close module, described First ray section is inputed to described the 4th correlation module, wherein, described spread spectrum signal sequence is with the first order sequence;
Described local code order module is used for obtaining local pseudo-code sequence, described local pseudo-code sequence is sorted according to the second order, local pseudo-code sequence after sequence is sequentially divided into the first pseudo-code section, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section, and described the first pseudo-code section is inputed to described the first correlation module, described the second pseudo-code section is inputed to described the second correlation module, described the 3rd pseudo-code section is inputed to described third phase and close module, described the 4th pseudo-code section is inputed to described the 4th correlation module, wherein, described the first order and described the second reversed in order, described local pseudo-code sequence and described spread spectrum signal sequence equal in length, and described First ray section and described the 4th pseudo-code segment length equate, described the second tract and described the 3rd pseudo-code segment length equate, described the 3rd tract and described the second pseudo-code segment length equate, described the 4th tract and described the first pseudo-code segment length equate,
Described the first correlation module is for described the 4th tract and the first pseudo-code section are carried out to related operation, and output relevant peaks is to described data transformation module; Described the second correlation module is for described the 3rd tract and the second pseudo-code section are carried out to related operation, and output relevant peaks is to described data transformation module; Described third phase closes module for described the second tract and the 3rd pseudo-code section are carried out to related operation, and output relevant peaks is to described data transformation module; Described the 4th correlation module is for described First ray section and the 4th pseudo-code section are carried out to related operation, and output relevant peaks is to described data transformation module;
Described data transformation module is closed the relevant peaks of module and the output of the 4th correlation module for more described the first correlation module, the second correlation module, third phase, and exports the relevant peaks of correlation maximum.
2. segmentation correlation unit according to claim 1, is characterized in that, the described schedule time is 96 clock period.
3. a pseudo-random code ranging device, is characterized in that, described device comprises signal transmitting and receiving unit, sequencing unit, local code generation unit, relevant peaks decision unit, range cells and three segmentation correlation units according to claim 1 and 2, wherein,
Described signal transmitting and receiving unit is for emission detection signal, and the spread spectrum signal sequence of the described detectable signal of reception response;
Described order module is for sorting according to the first order to the spread spectrum signal sequence receiving;
Described local code generation unit is used for generating three local pseudo-code sequences equal in length, and described three local pseudo-code sequences are inputed to respectively to described three segmentation correlation units, and wherein, differing between described three local pseudo-code sequences is 1/2 chip;
Described relevant peaks decision unit is used for obtaining the relevant peaks of described three segmentation correlation units output, and calculates successively the jitter value of each relevant peaks, if described jitter value in preset range, selects the relevant peaks of correlation maximum to input to described range cells;
The time interval of described range cells for calculating described detectable signal and described relevant peaks, and according to described time interval measuring and calculating distance.
4. pseudo-random code ranging device according to claim 3, is characterized in that, described relevant peaks decision unit also all not in described preset range time, sends phase modulation instruction to described local code generation unit for the jitter value in described three relevant peaks;
Described local code generation unit is also for being shifted to described three local pseudo-code sequences according to described phase modulation instruction.
5. according to the pseudo-random code ranging device described in claim 3 or 4, it is characterized in that, described preset range is-0.5-0.5.
6. a Pseudo Code Ranging Method, is characterized in that, described method comprises:
Emission detection signal, and receive the spread spectrum signal sequence that responds described detectable signal;
After the spread spectrum signal sequence receiving is sorted according to the first order, spread spectrum signal sequence described in buffer memory is sequentially divided into spread spectrum signal sequence First ray section, the second tract, the 3rd tract and the 4th tract after delay scheduled time;
Generate three local pseudo-code sequences equal in length, described local pseudo-code sequence is sorted according to the second order, local pseudo-code sequence after sequence is sequentially divided into the first pseudo-code section, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section, wherein, differing between described three local pseudo-code sequences is 1/2 chip, described the first order and described the second reversed in order, described local pseudo-code sequence and described spread spectrum signal sequence equal in length, and described First ray section and described the 4th pseudo-code segment length equate, described the second tract and described the 3rd pseudo-code segment length equate, described the 3rd tract and described the second pseudo-code segment length equate, described the 4th tract and described the first pseudo-code segment length equate,
The first pseudo-code section of each local pseudo-code sequence, the second pseudo-code section, the 3rd pseudo-code section and the 4th pseudo-code section are carried out to related operation with the 4th tract, the 3rd tract, the second tract and the First ray section of spread spectrum signal sequence respectively, export three groups of relevant peaks, the quantity of every group of relevant peaks is four;
From every group of relevant peaks, select the relevant peaks of correlation maximum, obtain three relevant peaks;
Calculate successively the jitter value of each relevant peaks, if described jitter value, in preset range, is selected the relevant peaks of correlation maximum;
Calculate the time interval of described detectable signal and described relevant peaks, and according to described time interval measuring and calculating distance.
7. Pseudo Code Ranging Method according to claim 6, is characterized in that, the described schedule time is 96 clock period.
8. Pseudo Code Ranging Method according to claim 6, is characterized in that, the described jitter value that calculates successively each relevant peaks, if described jitter value in preset range, selects the step of the relevant peaks of correlation maximum also to comprise:
If the jitter value of described three relevant peaks all not in described preset range time, sends phase modulation instruction;
According to described phase modulation instruction, described three local pseudo-code sequences are shifted.
9. according to the Pseudo Code Ranging Method described in claim 6 or 8, it is characterized in that, described preset range is-0.5-0.5.
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