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AND
J . H. ROBERTS
I. INTRODUCTION
HE distributionofthe phase angle between two vectors
arises
in avariety
of applicationsin
communications
systems [ 6 ] , [ l l ], andcommon cases are those inwhich
information is transmitted in the phase orfrequencyof
a
sinusoid.Typically,
thenoise-corrupted version of such a
sinusoid has the form
~<e1,e2<~.
(3)
1829
f c ) + S(-f
Fig. 1.
Anglebetweentwovectorsperturbedby
Gaussiannoise.
(44
both = and A = O.
R
Distribution
of a Modulo2n Difference
.
.
Theprobabilitydensityfunction
p ( $ ) ofthemodulo
2n difference $ = (0, - 0,) mod 271;-n < 01, O2 < n, can
be found by integrating the joint probability densityp ( O 1 , 0,)
of the phase angles J1 and O2 over the regions of the 0 , , O 2
plane in which (0, - 0,) mod 2n lies between $ and $
d$ and O1 and O2 lie between k IT.These regions are indicated
in Fig. 2 for a particular value of $ and, in general, are determined by the intersections of two of the three lines O 2 = O1 t
$ + 2nk; k = 0 , f 1, with the square of side 2n centered at the
origin. Since the joint density p(O1, 0,) is of 2n periodicity2
in each of its arguments, the small shaded region in the lower
right-hand corner of the squarecan be raised by an amount
2n so that the resulting shaded region will be one continuous
strip. Consequently, p ( $ ) can be determined from p(O1, 0,)
by the integration
A@ = (O,T
where pa($,) is the density of $,. In either case, the probability P{ $1 < $ < $ 2 } is then given by
1830
92
8,
F($)=-
-sin $
47-l
rt2
e- U(1- C O S $
cost)
(10)
dt
-n2
I - cos $ cos t
,-[U-~sint-Wcos(A~-$)cosf]
U- VS~~-WCOS(A@- $)cost
(1 1)
W sin (A@ - $)
C. Expressions for P( $
Letand
angles lying within
theparticular2n
interval of interest.Thentheprobability
P{$l < $ < G 2 } canbe expressed in terms of an auxiliary
function F($):
U-Vsint-Wcos(A@-$)cost
r sin $ - X cos $
1 - (r cos $
+ X sin $) cos t
where
E=
(1 2)
U-Vsint-Wcos(A@--~)c~~t
1 - (r cos $
+ A sin $) COS t
4 The correspondingprobabilitydensityfunctionsaregiven
in
Appendix B [ c f .(B-1) and (B-6)].
5 A subscript i will be used to indicate explicitly $ dependence
whenever otherquantities in the sameexpressionare
J, dependent.
Also, because angles will be restricted to their principal values, the signum function is used in (14c) to give the correct sign of the square root.
1831
$ol=
Pi$
if Go < A@
-F(Q0);
if $, > A @ .
-.5
The function F ( $ ) in Case I (U = 1).
Fig. 3.
1 -F($o);
where
F($i) -F($i - n)
= 1 sgn [sin (A@ 2
[ 1- d-ze
(Oi/ei,ai)]
+ r sin $i - X cos $i
e- a 'Io(pJ
2 sin yi
where Zo(-) is a modified Bessel function. We note that this
last equation can also be expressed in terms of the Marcum
Q-function (171 and [ l l , p. 851).
E. Derivation ofP{
A derivation
for the most gederal case,
Case 111, of a signal with unequal parameters and correlated
noises will be given using the followingunconventional approach which makes use of the joint characteristic function
of the
narrow-band
waveform under consideration. This
approach has found wide application to problemsrelated
to noise zero crossings, instantaneous frequency, and FM and
PM demodulation [ 111 . An alternate derivation for Case I1
is given in Appendix B.
For a general, noise-corrupted, narrow-band waveform with
sarilples Z , = R , COS (OJ e,), z2 = R 2 COS (act+ e,),
the jointcharacteristic function @(u,v) is [ 11, ch.21
~ ( u , = E[eiuzl+i"z21
In thissection,certain
special situations are identified
in which F($) andthe difference F(G2) - F($,) assume
simple forms.
First, in Case 1, F($) has the special values [see (lo)]
F(0k) = T
l
2'
F(+n/2)= ?;e-',
F(kn) = 0
+ HF terms
(19)
in which the expectation in the final form is over the random
variables R i , R,, e l , and O2 and, also, the high-frequency
terms will be assumed t o vanish by virture of the expectation.6
By subtracting some angle, say E, from the argument of the
cosine prior to doing the expectation, a closely related conditional characteristic function @(u,u I t ) can be defined as
@(u,u IC;)
F(A@ - n/2) =
+ [1 - (W/v)Ze (V/U,v)]
I,
=G
u-
vcose
(20)
that @(u,u) = @(u,u Ig = 0). This conditional characteristic
function may be regarded as the joint characteristic function
of the two random
variables z1' = R1 cos (act+ 81 + C;)
SO
e-(~-vC~~e)
de
=E.[Jo(tlu2R12+~2R22+2~~R1R2~os(ez-el-C;)))~]
(1 6 )
1832
where
Aderivation of thisrelation is given in Appendix A. Physi- With the changes of variable 8' = n/2 - 8, z = tan (8'/2),
c.ally, G($) is related tothe classical distributionfunction
the integral in g($J can beevaluated straightforwardly and
yields'
F($) by F(JI) = G($) - G($min).
In order to apply this result, it is necessary first to calculate
the joint conditional characteristic function which,in the case
of independent signal and noise, can be written as the product
@ S + N F @s X @ N , where the subscripts "S'and "N" refer
to the signal and noise components, respectively. In the case
of the particular narrow-band waveform of interest [cf. (2)] ,
these signal and noise components are readily shown to be
(cf. [ll, eq. (2.10)])
Hence, for $1 < $ 2 ,
fiR
81
8
cos-;
u=-
fiR
a2
8
sin .2
(25)
1833
BG GAUSSIAN NOISE
applies with
= $o and $ = A@ + n. In the following, where
we take $o > A@so that P{$ 2 $01 = F(A@+ T ) - f l $ o ) .
po = 4 ~ cos2
2 Go
V2 sin2$,
Furthermore, in Cases I and 11, F(A@+ T ) = 0; and in Case
111, F(A@ n) will be negligible in comparison to -F($o) and, in (35c), yi, ai,and pi are defined by (14a)-(I 4c) with
unless Go is near A@ + n. Thus, P{$
$0) = -F($o) in
$ i = $0.
Cases I and 11, and in Case 111, when $o is not near A@ n,
B. $0- A@ = n/2
PI$ > $01 -F($o).
A. Small J/o - A@
The term ai - pi cos 8 appearing in the exponents of the
integrands in (13) will have a minimum at 8 = 0 provided
that pi > 0. This minimum will lie within the range of integration whenever 0 < yi - 6i < 2yi, and the condition pi > 0
will be satisfied when [cf. (14c)l
P{ $ > n/2} = 1
e4
(36)
C. Go
A@Near n/2
(33)
Assuming the conditions for a minimum within the range of
integration to be fulfilled, cos 8 in (13) can be approximated
by 1 - 812, the range ofintegration extended to fm,and use
made of theidentity [l , eq. (7.4.1 l)]
(37)
P{ $ > $o}
+e-
+ L,(UCOS
$0)]
(38)
(34)
which then leads to the asymptoticformulas
i) Case I:
(39)
sin $o, 60 =
where Po = sgn (cos G0)@U2 cos $o + V
sin-l (V/o0),and V/U Q 1. Lo(-) is a modified Struve function [ I , ch.121 . These last twoequations followdirectly
from (IO) and (1 1) by approximating the denominators by
their values at $ = A@ + n/2.Equation (39) is notmuch
simpler than the exact expression (13) and, hence, for computational purposes (13) is t o be preferred.
D,Large Go
- A@
iii)Case 111:
1834
IEEE TRANSACTIONS
COMMUNICATIONS,
ON
P@
(42)
'E(M) =
(43)
P ( $ ) db!'
2n
L,,,
dt
1 -cos(n/M)
cos
(44)
cT}
e-~/(2np).
PAWUL.4 PERTURBED
et al.: VECTORS
1835
NOISE
BY GAUSSIAN
0.9186
0.9768
0.9987
16
(53)
+ (A/#
[?
of a narrow-band
Theinstantaneousradianfrequency
signal is thetime
derivative ofitsinstantaneousphase;
i.e.
P{ 0 < wo}
=
1- P { o
= 1 - lim
x,
> wo},
P{$ > w ,
7},
.
0
'
7
+ lim F(w07)-
if wo >a,
1836
LimiterDiscriminator
; ; ;FI
t)
(+ clicks)
+(
PI$ < 0)
provided by our results in Case 111 of the present paper. In this
example, we briefly indicate how the Case 111 results can be
used in the BER calculation in the partial-bit case.
Intheworst
case situation of an alternating one-zero
data stream, the operation of narrow-band digital FM can be
partlymodeledintermsofthe
phase angle betweentwo
vectors perturbedby Gaussian noise,when the underlying
sinusoid[cf. (l)] has an amplitudeandphase of theforms
(cf. [8, eqs. (12) and (13)] for a linear phase IF)
A ( t ) = d a o + a2 cos 2n
f_
7(
+
a,. sin n
(56a)
a, sinn-
1 - COS A@ COS t
dt
rsinA@
$ 7 -
/,,,
exp i-u
n/2
dt
1 +cost
1 + r cos A@ cos t
1 + r cos A@ cos t
O,X=O,k=O,viz.
a.
cy2
1-rcost
(60)
and
$(t) = tan-
1 - COS A@ COS t
+ a2 cos 2n T
where aO, a,, and a2 are constants (ao > 0, a. -+ a 2 ) and Tis
the bit time. Letting 7, 0 < T < T , denote the partial-bit integration time, we can
express the phase angle of interest between thenoisy vectors as
and
i: = [d2r(~)/dr2],=o.
(59)
J-
PAWULA PERTURBED
e t al.: VECTORS
1837
BY GAUSSIAN NOISE
where
v>
U - Ze(Y,
-+
v>
rl
(-l)mem cos 2 m O
in which p = p 1 and -n < $ < n (A@ = 0 since MPSK is implicitly coherent signaling). The limit as p 2 -+ 03 (or u2 0) of
the function F($)will first be shown to be consistent with this
p ( $ ) , and will thenbe applied tothe MPSK symbolerror
probability calculation.
Taking the limitp 2 + m of (1 1) (with A@ = 0) leads to
m=O
dt
(6).
of
not
between the
1838
IEEE TRANSACTIONS
COMMUNICATIONS,
ON
-,MIG~.
=% k=O
k 5 k ( P l ) z i Z k ( P 2 ) 6 k ( P 3 ) COS
k$;
$ = ( 2- e 32 )- m
e 1o d 2 n .
(77)
(72)
p($)
where'
(74)
From this series, the series for the density
$ = (20) mod2n.
of $ = (28) mod
+ p1($/2 + n)]/2,
(75)
systems,andinfinding
thedistributionofinstantaneous
frequency.
Even in the most complicated case, the expressions for the
distribution requireonly the numericalevaluation of single
integrals,andtheseare
easily done on a digital computer or
hand-held programmable calculator to ten digit accuracy
using the methods described in [ 101 . Such methods were used
to get numerical comparisons of the asymptotic formulas with
exact results and, ingeneral, the asymptotic results were found
to be quite good for U > 10 dB and over the entire range of
The secondingredientin
theFourier series approach is
the observation, made from (6), that the Fourier series for the
combination of twoindependent e's, with densities of the
$0.
form of (73) or ( 7 9 , has Gcoefficients which are just products
By following thetechniques used, the resultscanbeexof the Z-coefficients of the component pdfs. Then, series for tendedtoother
special situationsofinterestin
phaseand
the'densities of combinations such as $ = (0, - 0 , ) mod 2n frequency modulation (cf. [6, ch. 51).
and $ = (202 - e l - 0,) mod 2n" [all the 0's are independent with densities given by (73)] can be written by inspection,
APPENDIX A
viz .
CHARACTERISTIC FUNCTION METHOD
11, = ( e 2 - 0 , ) mod 2n
1 5 ;El(p)
16
(76)
PAWULA PERTURBED
et al.: VECTORS
1839
BY GAUSSIAN NOISE
- $i n)] that can be used in (A-2) t o get an expression for P{ $ 1 < $ G G2}. The desired equations (21)and
(22) now follow when (20) is used to express EIJo(*)] as
0,
and useconstruct
toit
the
function
1
+n)1.
- [($2-$1)+s($-$2+~)--s($-$l
2n
@(-u, conditional
u I $J, the
tion 11-E.
characteristic
of function
P{$lG$G$2}
$ 2 -IL1
1
+E E S ( ~-ol
,
2n
=
7
-s(02
-81
- $1
+ n)I
$2
+n)
(A-2)
where theexpectationextends
over therandom variables
0 , and 0 2 . By the periodicity of s(-), the mod 2n in
$ =
(0, - e,) mod 2n is accounted for.
2) Note the basic relation [ 11, eq. (2.20)]
Sec-
APPENDIX B
OF P{ $1
(19,
where E = U - V sin t - W cos (A@ - $) cos t. The observation is made that the negative exponent E satisfies the
identity
3) Replacein
(A-3) by O 2 - O 1 - E and change the
variables of integration to u , u where x = uRl , y = vR2 and
R , , R 2> 0. This carries (A-3) into
+-4n
dt
-n12
(___-)(T
a$
-1
$I
aE
d$)
~cost
03-31
Uponintegrating thesecond integral by partswithrespect
to t , and the third integral by parts with respect to $, it will
be found formally that all of the remaining double integrals
cancel, and that there results the single integral
1840
IEEE TRANSACTIONS
COMMUNICATIONS,
ON
rm
$ =A@,and
t=tan-
(B-5)
and will be avoided if A@ lies outside the range of integration. If A@ lies withinthe range of integration,thenthe
abovederivation
mustberepeatedforthecomplementary
probability P{$ <
or $ > $2). Evaluating the integrand
of (B-4) then leads to (9) and(1 l), which completesthe
proof.
CaseZIZ: Inextendingthis
derivation to Case 111, the
probability density functionp($) becomes
tJo(at)e-bf2 dt = - e2b
I
Jl(at)e-bf2 dt =-(1
a
a2/4b
-e-a2/4b).
exp[a+bsint+ccost
4-
1 + d cos t
2ir
I,
1 + d cos t
dt
[+
a
4-2
277
L,,
dt
= e-aIo(13)
+ c cos t
1 + d cost
b sin t
a+bsint+ccost
where
where
E=
U--~sint-W~os(A@-$)co$t
1 - (r cos J/
+ x sin $) cos t
E[2U-2W(rcosA@++sinA@)-E(1-r2-A2)]
(B-7)
APPENDIX C
__
77
e-x(~--kco~e)
de
1--cos0
(C-2)
1841