Shift Keying Modulation Techniques
B. Sainath
[Link]@[Link]
Department of Electrical and Electronics Engineering
Birla Institute of Technology and Science, Pilani
March 4, 2019
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 1 / 37
Outline
1 What is Bandpass Transmission ?
2 Shift Keying Modulation
3 Phase Shift Keying
4 M−ary Phase Shift Keying
5 M−ary Quadrature Amplitude Modulation
6 Symbol Error Probability: Craig’s Formula
7 CPM & CPFSK
8 Minimum Shift Keying
9 References & Further Reading
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 2 / 37
What is Bandpass Transmission?
Baseband transmission
bit stream in the form of a discrete PAM signal is transmitted directly
Bandpass transmission
incoming bit stream (eg. PCM encoded speech) is modulated onto RF
carrier with fixed frequency limits imposed by bandpass channel
e.g. satellite communication, mobile communication
Figure: Bandpass data transmission: an illustrative block diagram.
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 3 / 37
Shift Keying Modulation Schemes
Modulation performed by switching (or keying) some characteristic of RF
sinusoidal carrier w.r.t incoming symbols
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 4 / 37
Binary Signaling
L = 1 ⇒ two symbols
Pulse shape p(t) = 1, 0 < t < T
Let a(k) = {−1, +1}
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 5 / 37
Binary Signaling
L = 1 ⇒ two symbols
Pulse shape p(t) = 1, 0 < t < T
Let a(k) = {−1, +1}
x(t) = a(k ), (k − 1)T < t < kT
RF carrier’s characteristic is modulated in accordance with the baseband
signal
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 5 / 37
Amplitude Shift Keying (ASK)
Also called ON-OFF signaling; Analogous to AM
RF carrier of fixed amplitude and fixed frequency for bit duration → bit ‘1’
Switched off carrier for bit duration → bit ‘0’
Transmitted bandpass signal
y(t) = (1 + x(t)) cos(2πfc t), for all t
Application
used in optical communication
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 6 / 37
Binary ASK Probability of Error
in AWGN Channel
√ I
(0, 0) ( Eb , 0)
Figure: Constellation diagram of ASK.
A2c Tb
Let Eb denote bit energy = 2 joules
q
Eb
SEP = Q 2N0
Solution by geometric approach (discussed in class)
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 7 / 37
Binary Frequency Shift Keying (BFSK)
This is analogous to FM
Transmitted bandpass signal
y (t) = cos(2πfc t + x(t)2πf0 t), for all t
RF carrier with frequency fc + f0 ⇒ bit ‘1’
RF carrier with frequency fc − f0 ⇒ bit ‘0’
Application
used in Amateur radio, emergency broadcasts
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 8 / 37
Binary FSK Probability of Error in
AWGN Channel
Q
√
(0, Eb)
√ I
0 ( Eb, 0)
Assume that signals representing the bits are orthogonal
Assume coherent
q reception
Eb
SEP = Q N0
Solution by geometric approach
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 9 / 37
Binary Phase Shift Keying (BPSK)
This is analogous to PM
PSK: Most popular and widely used modulation technique
Transmitted bandpass signal
y (t) = cos(2πfc t + βx(t)), for all t
RF carrier with phase − π2 ⇒ bit ‘1’
RF carrier with phase + π2 ⇒ bit ‘0’
Application
satellite communication, wireless LANs, RFID, and Bluetooth
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 10 / 37
Binary PSK Probability of Error in
AWGN Channel
Q
s0 s1
√ √ I
(− Eb , 0) 0 ( Eb , 0)
BPSK: also called antipodal signaling (correlation coefficient ρ = -1)
Assume coherent reception
q
2Eb
SEP = Q N0
Solution by geometric approach
q RT
Eb (1−ρ) s (t)s (t) dt
General formula: SEP = Q N0 , where ρ = √0 E 0 √1 E
s0 (t) s1 (t)
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 11 / 37
Bandwidth of BPSK and BFSK
PSK modulated signal bandwidth
1
2× Tb
FSK modulated signal bandwidth
1
(2 × Tb
) + (f1 − f2 )
2
f1 − f2 > Tb
where f1 = fc + f0 and f2 = fc − f0
fc in terms of f1 and f2 ?
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 12 / 37
Bandwidth of BPSK and BFSK
PSK modulated signal bandwidth
1
2× Tb
FSK modulated signal bandwidth
1
(2 × Tb
) + (f1 − f2 )
2
f1 − f2 > Tb
where f1 = fc + f0 and f2 = fc − f0
fc in terms of f1 and f2 ?
f1 +f2
fc = 2
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 12 / 37
BPSK: Coherent RX
Figure: Coherent receiver of BPSK.
Alternatively, correlation receiver
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 13 / 37
M−ary Phase Shift Keying
Transmitted signal representation & examples (in class)
Quadrature PSK: M = 4 ; Octa-PSK or 8-PSK: M = 8
Figure: Constellation diagram of QPSK.
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QPSK: Transmission & Reception
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 15 / 37
Signal-Space Diagram of 8-PSK
Figure: Constellation diagram of 8PSK.
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Multilevel Signaling:16-QAM
Q. Compute average energy per symbol
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 17 / 37
Symbol Error Probability:
Craig’s Formula for MPSK
m , sin2 π
M
MPSK modulation (AWGN)
Z (M−1)π
1 M
exp −mγ csc2 θ dθ
SEP =
π 0
γ is received SNR
Check for BPSK (discussed in class)
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 18 / 37
Continuous Phase Modulation (CPM)
Phase discontinuity in coherent digital phase modulation techniques ⇒
poor spectral efficiency (Why?)
In CPM, carrier phase is modulated continuously
Advantages
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 19 / 37
Continuous Phase Modulation (CPM)
Phase discontinuity in coherent digital phase modulation techniques ⇒
poor spectral efficiency (Why?)
In CPM, carrier phase is modulated continuously
Advantages
Phase continuity yields high spectral (bandwidth) efficiency
Constant envelope yields
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 19 / 37
Continuous Phase Modulation (CPM)
Phase discontinuity in coherent digital phase modulation techniques ⇒
poor spectral efficiency (Why?)
In CPM, carrier phase is modulated continuously
Advantages
Phase continuity yields high spectral (bandwidth) efficiency
Constant envelope yields excellent power efficiency
Drawback:
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 19 / 37
Continuous Phase Modulation (CPM)
Phase discontinuity in coherent digital phase modulation techniques ⇒
poor spectral efficiency (Why?)
In CPM, carrier phase is modulated continuously
Advantages
Phase continuity yields high spectral (bandwidth) efficiency
Constant envelope yields excellent power efficiency
Drawback: high implementation complexity of optimal receiver
Figure: Illustrating Modulation types.
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 19 / 37
Conventional FSK
Memoryless & does not have continuous phase (why?)
Binary FSK: Modulated signal switches instantaneously between two
sinusoids with different frequencies
M−ary FSK: 2k oscillators, k denotes number of bits in a symbol
Let Rb denote transmission rate
Drawback:
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 20 / 37
Conventional FSK
Memoryless & does not have continuous phase (why?)
Binary FSK: Modulated signal switches instantaneously between two
sinusoids with different frequencies
M−ary FSK: 2k oscillators, k denotes number of bits in a symbol
Let Rb denote transmission rate
Drawback: Oscillators tuned to desired frequencies & selecting one of M
frequencies according to k −bit symbol transmitted in T = Rk duration
b
Abrupt switching from one oscillator to another in successive intervals results in large
spectral side lobes outside main spectral band of signal ⇒ requires large frequency band
⇒ spectrally inefficient
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 20 / 37
Continuous Phase FSK
CPFSK: Form of CPM & variant of FSK
Need for CPFSK
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 21 / 37
Continuous Phase FSK
CPFSK: Form of CPM & variant of FSK
Need for CPFSK
Maintaining phase continuity improves spectral efficiency
q
2Eb
CPFSK signal s(t) = Ac cos(2πfc t + φ(t)), where Ac = Tb
f1 +f2
φ(t) continuous, fc = 2
two frequencies f1 and f2 transmitted to represent symbols 1 & 0
πh
In 0 ≤ t ≤ Tb , φ(t) = φ(0) ± Tb
t
‘+’ corresponds to symbol 1, ‘-’ corresponds to symbol 0
Parameter h = Tb (f1 − f2 ) ← deviation ratio (modulation index)
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 21 / 37
Continuous Phase FSK
At t = Tb , φ(Tb ) − φ(0) =?
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 22 / 37
Continuous Phase FSK
At t = Tb , φ(Tb ) − φ(0) =?
πh, for symbol 1,
φ(Tb ) − φ(0) = .
−πh, for symbol 0
Transmission ‘symbol 1’
increases phase of CPFSK signal by πh radians
Transmission ‘symbol 0’
reduces phase of CPFSK signal by πh radians
Exercise: Plot φ(t) − φ(0) as a function of Tb (in steps of Tb )
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 22 / 37
CPFSK Spectral Density
Spectral density of CPFSK (e.g., MSK) signal produced by random binary
sequence
falls off at least as f −4 at frequencies remote from the center of the signal
band
q
2Eb πt
Pulse shape g(t) = Tb cos 2Tb , −Tb ≤ t ≤ Tb
Prove that the PSD of g(t)
2
Ψg (f ) 32Eb cos (2πTb f )
Sg (f ) = =
Tb π2 16Tb2 f 2 − 1
=⇒ |G(f )|2 ∝ f −4 for f >> 1
Tb
QPSK signal
spectral density fall off as f −2
CPFSK signal does not produce as much interference outside signal
band compared to QPSK signal
advantage over QPSK when operating with bandwidth-limited systems
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 23 / 37
Cyclostationary Signal:
Representation & Analysis
Signal representation (general expression)
X
x(t) = Ik g(t − kT )
∀k
Instantaneous frequency f (t; I) ∝ x(t)
X
f (t; I) = h Ik g(t − kT )
∀k
Instantaneous phase φ(t; I)
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 24 / 37
Cyclostationary Signal:
Representation & Analysis
Signal representation (general expression)
X
x(t) = Ik g(t − kT )
∀k
Instantaneous frequency f (t; I) ∝ x(t)
X
f (t; I) = h Ik g(t − kT )
∀k
Instantaneous phase φ(t; I)
Z t
φ(t; I) = 2π f (τ ; I) dτ
−∞
Z t
= 2πh x(τ ) dτ
−∞
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 24 / 37
Instantaneous Phase
Rt
Let q(t) = −∞ g(τ ) dτ
Q: For the pulse shown, determine φ(t; I) & sketch q(t)
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 25 / 37
Instantaneous Phase
Rt
Let q(t) = −∞ g(τ ) dτ
Q: For the pulse shown, determine φ(t; I) & sketch q(t)
X
φ(t; I) = 2πh Ik q(t − kT )
∀k
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 25 / 37
Instantaneous Phase of CPM
In general
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Instantaneous Phase of CPM
In general
X
φ(t; I) = 2π hk Ik q(t − kT ), nT ≤ t ≤ (n + 1)T ⇒ CPM
∀k
{Ik }: sequence of M−ary information symbols selected from
±1, ±2, . . . , ±(M − 1)
hk : sequence of modulation indices (MIs)
q(t): normalized waveform shape
If hk = h, MI is fixed for all symbols
Multi-h CPM: MI varies from symbol to symbol
Full-response CPM: g(t) = 0 for t > T
Partial-response CPM: g(t) 6= 0 for t > T
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 26 / 37
CPFSK Modulated Signal
Let fd denote peak frequency deviation & φ0 denote initial phase
Let E denote signal energy
Modulation index h , 2fd T
Lowpass (baseband) signal representation
r
2E
xbb (t) = exp (jφ(t; I) + jφ0 )
T
Q: Verify the following expressions
r Z t !
2E
xbb (t) = exp j4πfd T x(τ ) dτ + jφ0
T −∞
Bandpass signal representation:
r
2E
xbp (t) = cos (jφ(t; I) + jφ0 )
T
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 27 / 37
Instantaneous Phase of the Carrier
Exercise: In nT ≤ t ≤ (n + 1)T , prove that
φ(t; I) = θk + 2πh Ik q(t − kT )
n−1
X
θn = πh Ik
k=−∞
θn ⇒ represents accumulation of all symbols up to (n − 1)T
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 28 / 37
1
Minimum Shift Keying (MSK): h = 2
All phase shifts are modulo 2π
1
Interesting scenario h = 2
phase can take on only two values ± π2 at odd multiples of Tb
phase can take on two values 0 and π at even multiples of Tb
When h = 12 , CPFSK is called MSK
Expression of MSK signal
s(t) = Ac cos[φ(t)] cos(2πfc t) − Ac sin[φ(t)] sin(2πfc t)
π
where φ(t) = φ(0) ± t, 0 ≤ t ≤ Tb
2Tb
Q. Expression for received signal at the Rx front end?
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 29 / 37
1
Minimum Shift Keying (MSK): h = 2
All phase shifts are modulo 2π
1
Interesting scenario h = 2
phase can take on only two values ± π2 at odd multiples of Tb
phase can take on two values 0 and π at even multiples of Tb
When h = 12 , CPFSK is called MSK
Expression of MSK signal
s(t) = Ac cos[φ(t)] cos(2πfc t) − Ac sin[φ(t)] sin(2πfc t)
π
where φ(t) = φ(0) ± t, 0 ≤ t ≤ Tb
2Tb
Q. Expression for received signal at the Rx front end?
π π
x(t) = ±Ac cos t cos(2πfc t) ± Ac sin t sin(2πfc t) + w(t)
2Tb 2Tb
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 29 / 37
Phase Trellis Example
Figure: Phase trellis; boldfaced path represents the sequence 1101000.
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 30 / 37
Probability of Bit Error
Probability of bit error: same as coherent QPSK
However, MSK spectrum decays rapidly (f −4 )
MSK by Pasupathy S. (classic paper) (IEEE, 1979)
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 31 / 37
TX & Coherent RX of MSK
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 32 / 37
Gaussian MSK
Gaussian pre-modulation filter is used
Pass line-encoded (eg. NRZ) bits through a Gaussian filter
Use FM on the filtered pulses to generate GMSK signal
q
2αEb
Probability of bit error = Q N0
α depends on BT
For example, for BT = 0.25, α ≈ 0.68.
GMSK with BT = 0.3 used in GSM
GMSK offers better bandwidth efficiency but not power efficient
Trade-off between power efficiency & bandwidth efficiency
To confront ISI, GMSK requires equalization
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 33 / 37
PSD of MSK & GMSK
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 34 / 37
Exercise on GMSK
Notation:
U[0,T ] shown in Figure. It denotes BOXCAR function which has constant
amplitude of 1 in the defined interval.
U[0,T ] (t)
0 t
T
Figure: BOXCAR function
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 35 / 37
Exercise
Exercise. Pulse shape g(t) for GMSK can be obtained by smoothing
1
rectangular pulse of MSK, pMSK (t) = 4T U[0,T ] , by passing through a
Gaussian filter. The filter has transfer function given by
2 !
cf
H(f ) = exp − ,
W3 dB
q
ln 2
c= 2
, W3 dB is the 3 dB bandwidth
Derive the following:
Impulse response h(t) of the Gaussian filter
Convolution of pMSK (t) and h(t)
B. Sainath (BITS, PILANI) Bandpass Data Transmission & Reception March 4, 2019 36 / 37
References & Further Reading
Digital communications by Proakis
Communication Systems by Simon Haykin and Michael Moher, 5th edition
Digital communication by Simon Haykin
[Link]
2013_Spring/EEE306_Digital_Communication_2013_Spring_
Slides_10.pdf
[Link]
handouts/[Link]
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