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1. INTRODUCTION
DISTANCE
In this sectiongeneral properties of the minimum Euclidean
distance as a function of the real vaiued modulation index h
are given for partial response CPM systems. This distance is ilefined in Part I.
The Phase Tree and the Phase Difference Tree
An important tool for
the ensembleof
phase trajectories having a commonstart
phase (root), say zero, at time t = 0. The data symbols forall
the phase trajectories in the tree before this timeare all equal.
The value of these previous data symbols (the prehistory) can
be chosen arbitrarily, but for unifying purposes they will be
chosen t o be M - 1; i.e., ai = M - 1; i = -1, -2,
An example of a phase tree for a binary partial response CPFSK System is shown in Fig. 1 and the frequency pulse g(t) is
e-.
O<t<3T
0;
otherwise.
21 1
11
- hn
-2hn
-3hn
Fig. 1. Phase tree (ensemble of phase trajectories) when the frequency pulse g(t) is constant and of length L = 3. It is assumed that all the binary (M= 2) data symbols prior to t = 0 are all + l . Note that A is a crossing and not a merge. B and
C denotes first and second merges, respectively. Note: characters with underbars appear boldface in text.
i<O
yo = 2 , 4 , 6 , .-, 2(M- 1)
i<O
-, 2(M - 1);
i =0
212
t/T
1
Fig. 2. Phase difference tree when the frequency pulse g ( t ) is constant and of length L = 3 symbol intervals. Note that A
is not a merge since the trajectory cannot be identically zero in the future. B and C denotes merges. Characters with underbars appear boldface in text.
(L - 1)T, (L - 2)T and so on, but only for specific phase responses 4 ( t ) .
The second requirement above is satisfied if
2nh,y0q(LT) = k 2n; k = 1,2,...
yo = 2,4,6, 2(M- 1)
e..,
(5)
In Fig. 3 the minimum normalized squared Euclidean distance is shown versus h when N = 1, 2,-.., 10 observed symbol intervals for the binary CPM system given by (1). It is
seen thatformost
h theminimum Euclideandistance increases to an upper bound
d B 2 ( h ) with N , but not for the
weak modulation indices
where it is assumed that 4(LT) # 0. Thus, for these modulation indices, in the sequel called weak, h, satisfies
k
h,=------
k = 1 , 2 , ...
It can also be seen that some of the weak modulation indices, e.g., h, = 415, 718 donotaffectthegrowth
of the
y04(LT)
yo = 2,4,6;-,
2(M- 1).
(6) minimum Euclideandistance with N . This will be discussed
inmoredetail
later. However,indices such as h, = 312 are
A merge, modulo 2n,occurs at t = L T.
catastrophic.
In a similar way,the phase difference trajectorycan be
An Upper Bound on the Minimum Euclidean Distance
made constant forall t > t, = (L + U ) T by choosing
0;
i<O
Ti =
- 0 ,
i>AL
0;
(7)
and the weak modulation indices are
h, =
AL
~(LT)
i= 0
yi
k = 1,2,3,...
~(LT)*o
. _
nI ,
i<O
It can be noted that for a given finite interval of the modulation index, the numberof weak modulation indices within this
interval increases with M as in Part I.
I o
i> 1
213
'
.5
D h
1.5
I
Yi =
I1
0;
2 , 4 , 6 , -, 2(M- 1);
i<O
i=O
=
1,2
i>2
satisfying
2
yi = 0.
i= 0
the phase difference trajectory now equals zero for all t 2 LT;
see (2). Examples of weak systems are given in [ 181 and [2 11 .
The partial response CPFSK system having the frequency pulse
1
0;
O<t<T
otherwise
214
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mum of these Euclidean distances gives the minimum Euclidean distance over N = 1 observed symbol intervals.
When the minimum Euclidean distance for N = 2 observed
A fastsequentialalgorithmfor
computation of the minisymbol
intervals is to be computed, onlythoseyo-values
mumEuclideandistance, for any real valued modulation inwhose
corresponding
distances when N = 1 did not exceed the
dex h and large numbers N of observed symbol intervals, has
upper
bound
are
used.
The secondcomponent of the difference
been developed. The algorithm is sequential in N a n d uses the
sequence
is
chosen
t
o
be y1 = -2(M - l), -2(M - 2), -,
basic properties of the minimum Euclidean distance, namely
2(M
I),
and
the
Euclidean
distance is computed through
that it is upper bounded and is a nondecreasing function of N
(17).
Again,
only
those
sequences
whose corresponding Euclidgiven g(t), h, and M . The sequential property is obtained from
ean
distances
are
not
above
the
upper
bound will be stored as
thefactthat
squaredEuclideandistances
forcoherent CPM
possible
difference
sequences
for
N
=
3. The algorithm consystems are additive. This means that if the squared Euclidean
tinues
like
this
up
to
the
maximum
N-value,
N,,,.
Through
distance has been calculatedfor N symbol intervals, the squared
this
procedure
subtrees
are
continuously
deleted.
Euclidean distance for N + 1 observed symbol intervals is obIt is clear that any finiteupperboundontheminimum
tained by just adding an increment to thepreviously calculated
Euclidean
distancecan
be used forcuttingsubtrees. If the
squared Euclidean distance. This holds for fixed difference seupper
bound
is
too
loose,
however, the number of possible
quences y, and can be seen from the expression for the nordifference
sequences
will
grow.
The algorithm will naturally be
malized squared Euclidean distance
as fast as possible if the smallest possible upper bound is used.
This algorithm has empirically been found to increase only
linearly in computational complexity with N, and not exponentially as thebrute force method. Without thisalgorithm
the results on the minimum Euclidean distances presented in
the next chapter would be impossible t o achieve. Using this
algorithm allows observation intervals up to a couple of hundred symbol intervals, although N 5 100 is usually sufficient.
111. A SEQUENTIAL ALGORITHM FOR COMPUTATION
Thus,
In the previoussections
tools have beendeveloped
for
evaluating the minimum Euclidean distance of any CPM system, and thus also the performance in terms of symbol error
probability at large SNR. These tools will now be applied t o
selected classes of CPM systems. The chosen schemes are in no
specific sense optimum. Systems are achieved, which are reasonably easy to describe and analyze and which have attractive properties.
The first class of partial response CPM systems analyzed in
this chapter is defined by the frequency pulse
215
I Caroute
an upper bound
N:=N+I
'd~in,N(h)=lOOOOO
4
Read Sequence o f l e n g t h N - I
,yN-, , corresponding
N:=l
d~in,N~hl=lOOOOO
distance d$-,(hland
yo: =2
I
*,
...
Y,.Y,,
start value
o f phase d i f f e r e n c e t r a j e c t o r y
.
f r o m s c r a t c h pad
Canputephase
difference
trajectoj 0
5 t 5 T and
corresponding distance
i
d:(hl
Carputs phase d i f f e r e n c e t r a j e c -
t 5 NT andinci-e-
tory,(N-1lT
Idi[hl:=di-l(hl
1 Adi[hl
YES
1
rence trajectory
I
b
YES
on s c r a t c h
dmin,N[hl:=minld,$n,No.d:[hll]
e
l
yo: = y 0 * 2
I
y YES
z]
. cos [E]
L T.
2nt
<nt/733
r, +
'I
2sin(nt/73-(2nt/73cos(nt/T)-(nt/v2 sin(nt/v
1 -4($7
LT
d t >= k o i t -
where
+go@ + 731
(21)
(22)
This scheme will be referred to as the TFM (tamed frequency
modulation) system as in [ 131 . It will be analyzed only for the
binary case, but the modulation index will not be constrained
to 1/2 as in the approximate analysis presented in [ 131.
The schemes given by (18) will be denoted 1RC (= RC),
216
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2RC; 3RC, etc. since the frequency pulse g(t) is a raised cosine
of length L = 1, 2, 3 etc. The schemes defined by (20) will be
denoted lSRC, 2SRC etc. since the frequency pulse g(t) has a
Fouriertransformwhich
is raised cosine shaped(Spectral
Raised Cosine) and the width of the main-lobe of this pulse
is L = 1 , 2 , 3 etc.
Binary Systems
0
.2
Fig. 5.
.4
.6
1 .o
.a
Dh
1.2
Phase
Ln
- 1 ,.
Fig. 6 .
217
..
--
-.
d'lhl
MSK
//
1'2t
NL 1
\
/
.3
Fig. 7.
Fig. 8.
N-1
.5
1 .O
1.5
pulses and it occurs for a larger h-value. Also note that the distance value at h-values below 0.5 decreases with L . Fig. 8 also
shows that longer pulses require longer observation intervals.
For the binary 6RC system,minimum Euclideandistance
values above 5 can be obtained when h % 1.25 and N = 30 observed symbol intervals. Thiscorresponds t o an asymptotic
gain in SNR of at least 4 dB c,ompared to MSK.
These trends are summarized in Fig. 9 using data in [I71
and [ 2 i ], where upper bounds for the RC family 3 < L < 6
are shown. Except for a few weak h-values, the minimum distance equals dB2(h)for sufficiently large N-values.
The binary system 8RC is second-order weak, i.e., the upper bound on the minimum Euclidean distance calculated by
using the merge difference sequences can be further tightened
by also taking intoaccountthe
sequence giving the early
merge at t = 7T. The two systems 7RC and 9RC are not weak
according to the above definition, but since they are very close
to the 8RC system they are "nearly weak." Thus, for 7RC and
9RCN must be chosen very large for all modulation indices to
make the minimumEuclideandistanceequal
totheupper
bound dB2@), even for very low h-values. For further details,
see [I71 and [21].
From a spectral point of view it is intuitively appealing to
218
;r
dG(h)
d21 h l
3-
2-
3RC
I I f ! .
P h
1 .o
Fig. 9.
1.5
in Fig. 11. The subpulse go(;) given by (22) has been truncated
t o a total length of five symbol intervals.
The main-lobe of the frequency pulse g(t) used for the TFM
system is approximatively 3.7T. For h = 1/2 the upper bound
on the minimum Euclidean distance is reached with N = 10
observed symbol intervals and equals 1 S 8 . The value of the
upper bound for 3RC and 4RC when h = 1/2.iS 1.76 and 1.5 1,
respectively.
Quaternary and Octal Systems
In Part I it was found that multilevel systems (M = 4, 8,
.-) yield larger minimum Euclidean distances than binary systems. The first quaternary partial response CPM system within
the RC class is 2RC. Now four phase branches leave every
node in the phase .tree, depending on the data symbols ?1, +3.
The phase tree for the binary 2RC system forms a subtree of
the quaternary system. Thefirst merges occur at t = 3T.
The result of the distance calculations, using the algorithm
described in Section 111, are shown in Fig. 12 for the M = 4 ,
3RC scheme:Distancecalculations
for various M-ary RC
Fig. 11.
schemes are reported in [17] and [21]. The trends already observed for the binary system again appear as the length of the
frequency pulse g(t) is increased. The upper bound decreases
for low modulation indices and increases for large modulation indices. Actually, very large values of theminimum
219
V. POWER SPECTRA
.2
.5
1 .o
1.5
The power spectra (double-sided) can be obtained by numerical calculations,simulations in software,and hardware
measurements. Numerical calculations have beencarried out
by using formulas in [25]. These computer calculationsare
very time consuming, especially for large M and L values and
for large fTvalues. The bulk of the spectra in this paper have
been obtained by means of simulations, a much faster method.
For each pulse shape, M , h, and L value, the simulated spectra
have been compared t o numerically calculated spectra and a
close fit was observed [26J . Comparisons have also been made
to previously published numerically calculated spectra in [SI ,
[9], and [14].
.*',Thesimulated spectra have been calculated by the use of a
well-testedsimulation program [ 171 . In thesesimulations,
which are made in discrete time, the complexenvelope ei9(r9a)
has been sampled four timespersymbolinterval.The
data
symbol sequence is a randomly generated 128 symbolslong
M-arysequence,and
theestimated power spectrum is the
squaredmagnitudeof
the discrete Fouriertransform (DFT)
applied to the complex envelope eilP(r'a).These limitations
introducesomedistortion
in thespectraand in some cases
simulations have been performed using eight samples per symbol interval of the complex envelope. No significant change in
the result has been observed.
The behavior of the power spectra for large frequencies is
also of interest. It is not feasible t o use the above-mentioned
methods t o obtain the spectral tail behavior due to numerical
inaccuracy. In [SI the asymptotic behavior of partial response
CPM systems is given. The number of continuous derivatives
of g(t) determines the fall-off rate for large frequencies [SI,
[26], as discussed below.
Fig. 13 shows the power spectra for the binary CPM systems 2RC, 3RC, and 4RC when h = 112. For comparison the
spectrum for MSK is also shown. The frequency is normalized
with the bit rate 1ITb, where T = Tb*log2M and the spectra
are shown in a logarithmic scale (dB). The spectrum for MSK
falls off as 1 f I-' and for the RC-systems as 1 f I-* for large
frequencies [SI. For full response CPM systems the improved
fall-off rate has t o be paid for by increased first side-lobes. It
can be seen from Fig. 13, that by also increasing the length of
the frequencypulseg(t), the side-lobes can be made to decrease.
The power spectra are thuscompactandthe
firstside-lobe
very small with long pulses.
The effect of changing the modulation index h for the binary.RC systems have been studied indetailin
[17], [21],
and [26]. The general trend is that the spectra become wider
for increasing h-values, but normally maintain their smooth
shape. As an example, see Fig. 14. For h-values equal t o integer values, spectral lines occur [SI, [25].
AS can be expected, even more compact spectra can be obtainedby using strictly bandlimited pulses g(t) of the SRCtype. Fig. 15 shows the power spectra for the binary system
6SRC, when the modulation index is h = 0.4, 0.5, 0.8, and
1.2. In this simulation the infinitely long frequency pulse given
by (20) has not been significantly truncated [17] . It can be
seen that these spectra are more compact than those for the
220
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Fig. 13.
Fig. 14.
Fig. 15.
22 1
s(t, a) =
z[Z(r)
where
where
Fig. 16. Powerspectra for M = 4, 3RC. Note thatthefrequency
normalized with the bit rate 1/Tb in all spectrum figures.
is
+ l)T
g(t) E 0 for t
00
Receiver Structures
The number of correlative states is finite and equal
For rational modulation indices the phase tree is reduced t o a
The receiver observes the signal r(t) = s(t, a) + n(t), where
phase trellis [IO], [12] , [22] , [28] . For h = 2k/p (k, p inte- the noise n(t) is Gaussian and white (see Part I). The MLSE
222
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I(t1-ROM
cosI0lt,9Cn)*9n)
Now define
where
Using the above formulas it is possible to calculate the function J(5) recursively through (33) and the,metric 2,(3). This
metric is recognized as a correlation between the received signal over the nth symbol interval and an estimated signal from
the receiver.
The Viterbi algorithm [7] is a recursive procedure to choose
those sequences that maximizes the log likelihood function up
to the nth symbol interval. A trellis is used to choose among
possible extensions of those sequences. The receiver computes
2, (Zn, 8,) for all ML possible sequences En = { E H , 6, - 1 , -,
Gn-L+
and all p possible
This makes p.ML different Zn
values. Rewriting (34) using (27) yields
,rn,l/T
;li
%
wl8n)
...., ........._....
e,.
rz(t)= x ( t )
Fig. 18. I- and @generators withreduced ROM size. Characters with
underbars appearboldface in text.
cos aot-y(t)
- sin
u0t.
(34)
--
(37)
[r(t) - 4 t , 611 d t
(30)
223
'
-D-
+-
x
L
sin181
alternative Drocessor
Fig. 19.
H = F/4.
Matched
receiver.
filter
and
h&, 4l) =
Eb/No
1 sin
'
[ 5
2nh
[dB]
1
Q((1 -j)T - t )
j= -L+ 1
for t o u t s i d e [0, r ] .
''-3
Simulation results
Fig. 20.
2 24
dB g a i n
re1 MSK
3SRC
5
-1
-2
-3
-4
8 M=Z
0
0
Fig. 21.
Bandwidthlpowercomparisonbetween
sponse CPM systems.
M-4
M=8
various partialre-
225
with phase-tree demodulation, Electron. Lett., vol. 14. pp. 487489. July 1978.
Furtherresults
on digital FM with coherent phase tree
demodulation-minimumdistanceandspectrum,Telecommun.
Theory, Univ. of Lund. Lund. Sweden. Tech. Rep. TR-I 19. Nov.
1478.
T. Aulinand C-E.Sundberg.Minimumdistanceproperties
of
M-ary correlative encoded CPFSK. Telecommun. Theory, Univ.
of Lund, Lund. Sweden, Tech. Rep. TR-120, Nov. 1978.
on spectrally
N.RydbeckandC-E.Sundberg,Recentresults
efficient constant envelope digital modulation methods. in P r o c .
IEEE Int. Conf, C o m m u n . . Boston, MA, 1979. pp. 42. I . 1 4 2 . I .6.
T . Aulin. N. Rydbeck, and C-E. Sundberg. Bandwidth efficient
digital FM with coherent phase tree demodulation, in P r o c . IEEE
Int. Conf. C o m m u n . , Boston, MA. 1979. pp. 4 2 . 4 . 1 4 2 . 4 . 6 .
T . Aulin. CPM-A
power and bandwidth
efficient
digital
constant
envelope
modulation
scheme,
Ph.D.
dissertation.
Telecommun. Theory, Univ. of Lund. Lund, Sweden. Nov. 1979.
T. Aulin,N.Rydbeck,andC-E.Sundberg.Performanceof
constantenvelopeM-arydigitalFM-systemsandtheirimplementation, in Proc. Nut. Telecommun. Conf.., Washington, DC.
1979. pp. 55. I . 1-55. I .6.
T. Aulin and C-E. Sundberg, Continuous phase modulation-Part
I: Full response signaling, this issue, pp.
196-209.
T. Aulin.N.Rydbeck.andC-E.Sundberg.Transmitterand
receiver structures for M-ary partial response FM. Synchronization
considerations.Telecommun.Theory,Univ.
of Lund,Lund.
Sweden. Tech. Rep. TR-121. June 1979.
J . Salz. Spectra of digital FM.
Bell Syst.
R. R. Anderson and
T e c h . J . , vol. 44, pp. 1165-1 189. July-Aug. 1965.
T. AulinandC-E.Sundberg.Digital
FM spectra-Numerical
calculationsandasymptoticbehaviour.Telecommun.Theory.
Univ. of Lund. Lund. Sweden. Tech. Rep. TR-141.
May 1980.
T . Aulin, Symbol error probability bounds for coherently Viterbi
detected digital FM. Telecommun. Tneory, Univ. of Lund. Lund.
Sweden, Tech. Rep. TR-131. Oct. 1979.
T . Aulin.N.Rydbeck,andC-E.Sundberg,Transmitterand
receiver structures for M-ary partial response FM, in P r o c . 1980
I n t . ZurichSeminar on DigitalCommun., Mar. 4-6. 1980, pp.
A2. I-A2.6.
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