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In order to improve the information transmission rate of the communication and ranging composite system and realize the complete data-sequence mapping,the parallel combinatory spread spectrum (PCSS) technology was applied to the composite system,so that an improved r[KG-*2]_[KG-*3]combinatory data-sequence mapping method was proposed.The proposed mapping method was used to implement the data spreading transmission at the transmitter,and an improved generalized cross-correlation algorithm was adopted to estimate the transmission time delay and data despreading at the receiver then the information transmission and distance measuring were implemented at the same time.The simulation results show that the improved data-sequence mapping method realizes the uniqueness of mapping,improves the data mapping efficiency and the information transmission rate of the PCSS communication and ranging composite system.The improved generalized cross-correlation algorithm has better delay estimation performance under low signal-to-noise ratio (SNR).Therefore,the proposed method makes the PCSS communication and ranging composite system accomplish ranging tasks and communication tasks more effectively,which provides a reference for the theoretical research and engineering application of the composite system.