IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 46, NO.

3, AUGUST 1997

625

A Novel FSK Demodulation Method Using

Short-Time DFT Analysis for LEO
Satellite Communication Systems
Shinsuke Hara, Member, IEEE, Attapol Wannasarnmaytha, Student Member, IEEE,
Yuuji Tsuchida, and Norihiko Morinaga, Senior Member, IEEE

AbstractThis paper proposes a novel frequency-shift keying

(FSK) demodulation method using the short-time discrete Fourier
transform (ST-DFT) analysis for low-earth-orbit (LEO) satellite
communication systems. The ST-DFT-based FSK demodulation
method is simple and robust to a large and time-variant frequency
offset because it expands the received signal in a time-frequency
plane and demodulates it only by searching the instantaneous
spectral peaks with no complicated carrier-recovery circuit. Two
kinds of demodulation strategies are proposed: a bit-by-bit demodulation algorithm and an efficient demodulation-algorithm
frequency-sequence estimation (FSE) based on the Viterbi algorithm. In addition, in order to carry out an accurate ST-DFT
window synchronization, a simple DFT-based ST-DFT windowsynchronization method is proposed.
Index Terms Discrete Fourier transforms, Doppler effect,
frequency-shift keying, satellite communication.

I. INTRODUCTION

ERSONAL communication systems (PCSs) make communication from person-to-person, with a wide range of
services such as voice and data transmission with different
service qualities, whenever they are required, regardless of
where we locate [1].
Low-earth-orbit (LEO) satellite systems have the advantages
of the interoperability of terrestrial cellular and mobile systems
as well as shorter transmission delay and lower propagation
path loss as compared with geostationary-earth-orbit (GEO)
satellite systems. The LEO satellite network is a candidate to
provide such truly seamless global personal communications
services because it has all the coverage, capacity, and features
required for the PCS realization. However, the system suffers
from the Doppler frequency offset.
In the LEO satellite system, there exists a large and timevariant frequency shift due to the Doppler effect, depending
on the carrier frequency, satellite altitude, orbit, and coverage
assigned to each LEO satellite. Fig. 1 shows the Doppler shift
and rate versus the time, where the earth station is located

Manuscript received December 15, 1995; revised August 1, 1996.

S. Hara is with the Department of Electronic, Information, and Energy
Engineering, Graduate School of Engineering, Osaka University, Osaka, Japan
(e-mail: hara@comm.eng.osaka-u.ac.jp).
A. Wannasarnmaytha and N. Morinaga are with the Department of Communication Engineering, Graduate School of Engineering, Osaka University,
Osaka, Japan.
Y. Tsuchida is with the Audio Laboratory, Sony Corporation, Tokyo, Japan.
Publisher Item Identifier S 0018-9545(97)04630-6.

Fig. 1. Doppler shift and its rate. The earth station is located on the
crosspoint of the equator and footprint of the satellite coverage of a polar
circular orbit with a satellite altitude = 788 km and a carrier frequency
= 2 GHz.

on the crosspoint of the equator and footprint of the satellite

coverage in a polar circular orbit with a satellite altitude of
788 km and a carrier frequency of 2 GHz [2]. In this case, the
Doppler shift ranges from 40 to 40 kHz and the Doppler
rate from 0 to 5.5 kHz/s. For a symbol transmission rate
of 8.0 kb/s as a low-rate service, for instance, the required
bandwidth of the receiver front-end bandpass filter becomes
approximately five times as large as the symbol rate. Therefore,
it is essential to develop modulation or demodulation schemes
to cope with such a large and time-variant frequency offset.
Also, in the PCS, associated with the miniaturization of
personal terminals, the problem of frequency offset is caused
by the frequency instability of the terminal local oscillator.
An efficient automatic frequency control (AFC) loop might
be one of the solutions [3], [4]. However, there exists a
fundamental time-frequency tradeoff: improving the frequency
resolution results in a loss of time resolution and vice versa
[5]. In other words, an accurate frequency estimation requires a
long preamble and inevitably introduces a loss of transmitted
power efficiency.
Much effort has been devoted to the analysis of the AFC
tracking performance in the presence of frequency offset and
to the proposal of modulation/demodulation schemes robust to
the large and fast frequency offset. For instance, the tracking
performance of the crossproduct AFC in the Costas loop
is discussed in [6]. A double-pilot-assisted QPSK coherent
demodulation method and a Doppler-corrected differential
detection method of MPSK are proposed in [7] and [8],

00189545/97$10.00 1997 IEEE

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where is the time and

is the signal-burst length in time.
We call
and
the (initial) fixed frequency offset and
frequency-offset rate, respectively. Taking this first-order
approximation, we can evaluate the robustness of the proposed
demodulation method against the frequency offset only for
and .
III. TRANSMITTER

AND

RECEIVER MODELS

Fig. 2. LEO satellite channel model.

A. Transmitter Model
Fig. 3 shows the block diagram of a binary differentially
encoded FSK (BDEFSK) transmitter. The information data
stream
(
or
) is differentially encoded, passed through the Nyquist filter with
rolloff factor , and then modulated by the FM modulator
with modulation index . The transmitted signal with unit
amplitude is written by

Fig. 3. Transmitter model.

respectively, both of which can cope with time-variant frequency offset. A dual-channel PSK demodulator for LEO
satellite DS/CDMA communications is proposed in [9], which
is absolutely insensitive to time-variant Doppler frequency
offset. Also, a simple coarse frequency acquisition method
through fast Fourier transform (FFT) is proposed in [10].
This paper proposes a novel frequency-shift keying (FSK)
demodulation method using the short-time discrete Fourier
transform (ST-DFT) analysis for an LEO satellite communication channel with a large and time-variant frequency
offset [11]. The ST-DFT-based FSK demodulation method
expands the received signal in a time-frequency plane based
on the ST-DFT analysis and demodulates it by searching
the instantaneous spectral peaks with no complicated carrierrecovery circuit. Two kinds of demodulation strategies are
proposed: a bit-by-bit demodulation algorithm and a novel efficient demodulation-algorithm frequency-sequence estimation
(FSE) based on the Viterbi algorithm. In addition, in order
to carry out an accurate ST-DFT window synchronization, a
simple DFT-based ST-DFT window-synchronization method
is proposed.
Sections II and III deal with the channel model and transmitter/receiver model, respectively. Sections IV and V explain
the ST-DFT-based demodulation principle and algorithms,
respectively. Section VI explains the DFT-based ST-DFT
window-synchronization method. Section VII shows the computer simulation results on the bit error probability (BEP).
Finally, Section VIII draws the conclusions.

II. CHANNEL MODEL

We model an LEO satellite communication channel as an
additive white Gaussian Noise (AWGN) channel with frequency offset (see Fig. 2). In a burst mode transmission, where
the signal-burst length is small, considering the frequency
variation up to the first-time derivative, we can approximate
the frequency offset introduced in a signal burst as
(1)

(2)
where
and
represent the real part of and the center
frequency, respectively.
is the modulated phase given by
(3)
and
where is the symbol duration
the differentially encoded th symbol

or

) is

(4)
The impulse response

of the Nyquist filter is given by

(5)

In the BDEFSK scheme, the information 1 is transmitted

by shifting the carrier frequency relative to the previous
carrier frequency and information 1 by keeping the same
carrier frequency. We define
and
as the higher and
lower transmitted frequencies at sampling instant
,
as the frequency separation
respectively, and
(6)
(7)
(8)
B. Receiver Model
Figs. 4 and 5 show the block diagram of the ST-DFT-based
differential frequency receiver and the instantaneous energy
distribution of the received signal, respectively. The received
signal through the LEO satellite channel mentioned in Section
II is written as
(9)
where is the amplitude of the received signal and assumed
is the complex AWGN.
is passed
to be constant and
through the receiver front-end bandpass filter (BPF) with
bandwidth
Hz centered at the nominal center frequency

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627

Fig. 4. Receiver model.

Hz and then downconverted by . After analog-to-digital

(A/D) conversion with sampling rate
Hz, the output signal
is expanded into a time-frequency plane by the ST-DFT in
order to analyze the instantaneous energy distribution. Finally,
the demodulation is made based on the spectral analysis result.
Defining
and
as the maximum frequency offset
introduced in the channel and bandwidth of the transmitted
signal (see Figs. 1 and 5) in order to introduce no distortion
in the received signal, the bandwidth of BPF must satisfy the
following condition:
(10)
Also, in order to introduce no aliasing distortion in the
A/D conversion, the sampling rate must satisfy the following
condition:
(11)
IV. ST-DFT-BASED DEMODULATION PRINCIPLE
A. ST-DFT
based
The time-frequency representation of a signal
on the ST-DFT, which is often called Spectrogram, is given
by [12]

Fig. 5. Instantaneous energy distribution of received FSK signal and basic

demodulation principle.

received signal with the ST-DFT is all the same as observation

through a filter bank with a number of narrowband filters.
Therefore, the demodulation performance depends not on
the front-end BPF output signal-to-noise power ratio (SNR),
but on the narrowband BPF output SNR. Consequently, in
principle, however wide the front-end BPF may be made,
it introduces no difference in the demodulation performance.
In other words, the ST-DFT-based demodulation method is
insensitive to the SNR degradation caused by the excessively
wide bandwidth of front-end BPF.
Also, when there are
frequency-division multiplexed
channels in the received frequency band because of the wide
front-end BPF, the receiver could find
distinct peaks in the
instantaneous energy spectrum at every demodulation instance.
When a signal burst is transmitted with a specific preamble
(unique word) in each channel, the receiver can easily identify
the desired channel and carry out demodulation, focusing
attention only on the desired part of the received frequency
band. Therefore, the ST-DFT-based demodulation method can
mask the false spectral peaks in adjacent channels.

(12)
C. Maximum-Likelihood Estimation (MLE) Characteristic
(13)
is the sampling interval and
and
where
represent a finite-time and even-symmetrical window function and a number of samples in one window, respectively.
Equation (13) represents the spectral component of
at
the th time index
and th frequency index
. We define
as a point (node) at
and
on the time-frequency plane. Furthermore, we define
as the instantaneous energy spectrum of
at
(14)
B. Basic Demodulation Principle
Fig. 5 shows the basic principle of the ST-DFT-based
demodulation method. After the ST-DFT window synchronization is established, the differential frequency demodulation is
made by searching the instantaneous spectral peak of
at
. Analysis of the

The transmitted signal (when an unknown frequency offset

is introduced in the channel) can be considered to be a monotone with an unknown (discrete) frequency
.
Assuming that the frequency of the received signal does not
change in one DFT window, the monotone composed of time samples in one window is written in a vector form
as
(15)
(16)
where

is

composed of
is written as

an

unknown phase. Defining

as the received signal vector
-time samples in one window at
,
(17)

is a noise vector and

where
each component is Gaussian distributed. Therefore, the joint

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 46, NO. 3, AUGUST 1997

probability density function (pdf) for

conditioned on the
monotone signal
can be written as [13]

(18)
where is the power of . Averaging (18) by , the joint pdf
for
conditioned on the frequency
is written as

Fig. 6. Bit-by-bit demodulation algorithm.

where
and
are the th peak
and the decided frequency for
frequency for
, respectively.
5) Make a decision according to

(19)
is the zeroth-order modified Bessel function of
where
the first kind. Equation (19) shows that although we assume
a rectangular window, the frequency , which maximizes
, is the MLE of the frequency of the transmitted signal.
Therefore, the ST-DFT-based demodulation method is optimum and can minimize the BEP when the frequency-offset rate
is negligibly small
. However, the following bit-bybit demodulation algorithm and frequency-sequence estimation
(FSE) algorithm are suboptimal because the demodulation
principle is modified in order to track the frequency drift due
to the larger frequency-offset rate.
V. ST-DFT-BASED DEMODULATION ALGORITHMS
In order to analyze the instantaneous energy distribution of
the received signal accurately in the ST-DFT-based demodulation method, the interpolation technique with points is
employed. The frequency resolution is given by
(20)
A. Bit-by-Bit Demodulation Algorithm
The bit-by-bit demodulation is made according to the following algorithm (see Fig. 6).
1) Let
.
2) Calculate
for the th symbol.
3) Let
.
4) Calculate
given by
(21)

(22)
6) If
does not satisfy the condition in Step 5), then
let
and go to Step 4).
7) Set
to be
, then let
and go
to Step 2).
The decision criterion in Step 5) ensures the prevention of
the misdetection of the false spectral peak due to background
noise and the tracking of the frequency drift due to the
frequency-offset rate.
B. FSE Algorithm
We propose a novel demodulation algorithm FSE to improve
the demodulation performance for a large and time-variant
frequency offset. The FSE is a kind of Viterbi algorithm [14],
where state and metric in the Viterbi algorithm correspond
to the node
on the time-frequency plane and the
amplitude of ST-DFT output
, respectively (see Fig. 7).
The FSE algorithm examines all the frequency paths leading
to a given node and chooses the most likely path according
to the accumulated metric. After the procedure is repeated for
all the frequency indexes in a given time period (the data-field
length in a signal burst), a frequency-index sequence with the
largest accumulated metric is finally chosen.
The FSE is made according to the following algorithm
(see Fig. 7), where
is the accumulated metric at
,
is a set of transition frequency indexes, which
, and
is
allows the previous nodes to transit to
the number of data symbols in a signal burst.
1) Let
and set
to be
for
.
2) Let
, examine all the frequency paths leading
to
, and choose the most likely path according

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629

(a)

(a)

(b)

Fig. 8. Allowable frequency transition. (a) MLFSE and (b) FSE.

(b)
Fig. 7. FSE. (a) Metric and node. (b) Frequency-index-sequence estimation.

to

for

(23)
, then go to Step 2).
3) If
4) Find the frequency-index sequence according to the
largest
.
We propose the following two sets of the allowable transition
frequency indexes.
1) Maximum Likelihood FSE (MLFSE):
, where the frequency offset is
assumed to be time-invariant and the frequency
transitions associated only with the modulation process
are allowed [see Fig. 8(a)].
2) FSE:
, where the
frequency offset is assumed to be time-variant and frequency transitions associated with both the modulation
process and the frequency drift due to frequency-offset
rate are allowed [see Fig. 8(b)].
Note that the MLE characteristic can hold only for the
MLFSE, where the frequency variation in one signal burst is
negligibly small
.
C. Required Memory, Demodulation Delay,
and Complexity Comparisons
The bit-by-bit algorithm needs to memorize only a previously decided frequency
at every demodulation instant

and requires no demodulation delay. This is the simplest

among the three algorithms.
On the other hand, the MLFSE and FSE algorithms need
to store all the frequency paths with a huge memory and
require
-symbol demodulation delay similar to conventional
Viterbi algorithms for convolutional codes. Furthermore, the
number of comparisons to choose a most-likely frequency path
leading to each node is two and eight for the MLFSE and FSE,
respectively. In this sense, the FSE is more complicated than
the MLFSE. In order to shorten the demodulation delay, we
have discussed the effect of the frequency-path history length.
A truncated algorithm only with an eight-symbol path-history
length can achieve almost the same BEP performance as the
(nontruncated) FSE algorithm [the associated demodulation
delay is eight (symbols)] [15].
VI. DFT-BASED ST-DFT WINDOW SYNCHRONIZATION
The ST-DFT-based demodulation method requires no carrier frequency/phase recovery, but an accurate ST-DFT window synchronization. Therefore, we propose a DFT-based
ST-DFT window-synchronization method.
Fig. 9 shows a signal burst used in the ST-DFT-based
demodulation method. The preamble is composed of
symbols, where
and
alternately appear and the tail
symbol is used to identify the end of the preamble.
Defining
as the number of samples per window, we can
kinds of
for the th symbol with different
calculate
sets of window timing
. The ST-DFT
window-synchronization method finds the best window timing
that can minimize the intersymbol interference due to the
window-timing offset (see Fig. 9).
The ST-DFT window synchronization is made according to
the following algorithm.
1) Let
.
2) Calculate
for the symbols in the preamble
.

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TABLE I
TRANSMISSION PARAMETERS

Fig. 9. DFT-based ST-DFT window-synchronization method.

3) Calculate the cumulative

for even symbols as

for odd symbols and

Fig. 10. BEP versus ST-DFT window width.

4) Search

, which maximizes
, which maximizes
.
5) Calculate
given by

, and

(24)
6) If
, then let
and go to Step 2).
7) Find the optimum window timing to maximize
.
Step 3) ensures the reduction of the effect of background
noise by adding up (averaging) the instantaneous energy
spectra for odd and even symbols, respectively.
VII. NUMERICAL RESULTS
Table I shows the transmission parameters to demonstrate
the BEP performance of the ST-DFT-based demodulation
method. In Figs. 1015, we assume a perfect ST-DFT window synchronization, and finally, in Figs. 16 and 17, we
show the performance of the DFT-based ST-DFT windowsynchronization method. The theoretical BEP lower bound,
which corresponds to the BEP of the differentially encoded binary FSK/noncoherent detection scheme in the AWGN channel
with no frequency offset, is given by (see Appendix)
BEP

(25)
(26)

where
represents the signal-to-noise energy ratio per
bit.
Fig. 10 shows the BEP versus the ST-DFT window width.
It could be impossible to evaluate the performance of all the
window functions because a number of window functions
have been proposed so far. Here, we choose typical three
window functions: the Hamming, Hanning, and rectangular

window functions [16] (also, see [17] for the performance of

the Blackman and Kaiser window functions) and try to find
the best window function and width suited to the transmitted
Nyquist pulse.
In general, a shorter window width results in a worse BEP
because of a lack of signal energy, while a longer window also
results in a worse BEP because of being rich in intersymbol
interference. Therefore, there is an optimum value in the
window width to minimize the BEP. It can be seen from the
figure that the Hanning window with the width of two-symbol
duration is the best choice among three window functions.
The rolloff factor
and modulation index
are important parameters for determining the required bandwidth of
the transmitted signal. Figs. 11 and 12 show the BEP versus
and , respectively. As
increases, the BEP improves
because of less intersymbol interference. On the other hand,
results in a worse BEP because of narrower
a smaller
frequency separation, while a larger also results in a worse
BEP because of frequent misdetection of the false spectral
peak caused by the Nyquist filter. Therefore, there is an
optimum value in for minimizing the BEP. It can be seen
from the figure that, leaving the required bandwidth out of
consideration,
and
are the best choices.
for different values of
Fig. 13 shows the BEP versus
interpolation index
. As increases, the BEP performance
improves because the instantaneous energy spectrum can be
analyzed in more detail. However, it requires more time for
the calculation. It can be seen from the figure that
is a
reasonable choice from the viewpoint of calculation time and
BEP improvement.
Fig. 14 shows the BEP versus the fixed frequency offset
, where the frequency-offset rate
is set to be zero.
The ST-DFT-based demodulation method is insensitive to the

HARA et al.: NOVEL FSK DEMODULATION METHOD FOR SATELLITE COMMUNICATION SYSTEMS

Fig. 11.

BEP versus rolloff factor.

Fig. 14. BEP versus fixed frequency offset.

Fig. 12.

BEP versus modulation index.

Fig. 15. BEP versus frequency-offset rate.

Fig. 13.

BEP versus Eb =N0 for different values of interpolation index.

fixed frequency offset, as long as the received signal can be

passed through the receiver front-end bandpass filter with no
distortion.

631

Fig. 15 shows the BEP versus the frequency-offset rate

.
The bit-by-bit algorithm, which is the simplest among the three
proposed algorithms, can keep a good BEP performance for
[Hz/s]. The MLFSE algorithm can achieve
the best performance for small values of
(
[Hz/s]),
which is almost the same as the lower bound. However, the
performance suddenly degrades as the frequency-offset rate
becomes large
because the frequency variation
in one signal burst becomes significantly large. The FSE
algorithm, which is the most complicated one, is more robust
to the frequency-offset rate than the bit-by-bit algorithm, and
it can keep a better performance for
[Hz/s].
Note that the bit-by-bit and FSE algorithms can work well for
the maximum Doppler rate shown in Fig. 1.
Fig. 16 shows the average window offset versus the length
of preamble
.
is a reasonable choice from the
viewpoint of power efficiency and achievable window-offset
error. Fig. 17 shows the BEP versus
for
. The
performance of the proposed DFT-based ST-DFT windowsynchronization method is almost the same as that of the
perfect window synchronization.

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Fig. 16.

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 46, NO. 3, AUGUST 1997

Average window error versus preamble length.

The receiver configuration has shown the simple structure

of the ST-DFT-based FSK demodulation method, and the
numerical results show that it is robust to the time-variant
frequency offset. Also, the ST-DFT principle has revealed that
the performance is insensitive to the front-end signal-to-noise
power ratio.
The ST-DFT-based FSK demodulation method is insensitive
to the fixed frequency offset. The bit-by-bit demodulation algorithm is robust to the frequency-offset rate and can keep good
BEPs for various values of
. The maximum likelihood
FSE (MLFSE) can achieve the best BEP performance among
three demodulation methods for small values of the frequencyoffset rate, which is almost the same as the BEP lower bound.
However, when the frequency-offset rate becomes large, the
performance suddenly degrades. The FSE is more robust to
the frequency-offset rate and can keep better BEPs than the
bit-by-bit algorithm in the wider range of the frequency-offset
rate.
Also, the DFT-based ST-DFT window-synchronization
method, when an adequate preamble length is chosen, can
achieve almost the same performance as the perfect window
synchronization.
APPENDIX
The BEP lower bound is given by
BEP
(27)

Fig. 17. BEP versus Eb =N0 with ST-DFT-based DFT window-synchronization method.

and
are the probability of and
where
the probability of given , respectively, and
is the BEP
of binary FSK/noncoherent detection scheme in the AWGN
channel with no frequency offset given by [18]
(28)

TABLE II
MODULATION/DEMODULATION PARAMETERS

Table II summarizes the best combination of modulation

and demodulation parameters obtained in this paper.
VIII. CONCLUSION
This paper has proposed a novel FSK demodulation method
using the ST-DFT analysis for an LEO satellite communication
channel with a large and time-variant frequency offset. A
bit-by-bit demodulation algorithm and a novel efficient demodulation algorithm FSE have been introduced. In addition,
this paper has proposed a simple DFT-based ST-DFT windowsynchronization method.

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[12] F. Hlawatsch and G. H. Boudreaux-Bartels, Linear and quadratic timefrequency signal representations, IEEE Signal Processing Mag., vol. 9,
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Shinsuke Hara (S87M90) received the B.Eng.,

M.Eng., and Ph.D. degrees in communication engineering from Osaka University, Osaka, Japan, in
1985, 1987, and 1990, respectively.
From 1990 to 1996, he was an Assistant Professor
in the Department of Communication Engineering,
Osaka University. Since April 1996, he has been
a Lecturer in the Department of Electronic, Information, and Energy Engineering, Graduate School
of Engineering, Osaka University. From April 1996
to March 1997, he was a Visiting Scientist in the
Telecommunications and Traffic Control Systems Group, Delft University of
Technology, Delft, The Netherlands. His research interests include satellite,
mobile and indoor wireless communications systems, and digital signal
processing.
Dr. Hara is a Member of the IEICE of Japan.

Attapol Wannasarnmaytha (S94) received the

B.Eng. degree in electrical engineering from Chulalongkorn University, Bangkok, Thailand, in 1992
and the M.Eng. degree in communication engineering from Osaka University, Osaka, Japan, in 1995.
He is currently working toward the Ph.D. degree at
Osaka University.
His research interests are digital signal processing
and mobile satellite communications.
Mr. Wannasarnmaytha is a Student Member of
the IEICE of Japan.

633

Yuuji Tsuchida received the B.Eng. and M.Eng.

degrees in communication engineering from Osaka
University, Osaka, Japan, in 1992 and 1994, respectively.
Since 1994, he has been with the Audio Laboratory, Sony Corporation, Tokyo, Japan, working on
the research and development of an advanced digital
audio system.
Mr. Tsuchida is a Member of the IEICE of Japan.

Norihiko Morinaga (S64M68SM92) received

the B.Eng. degree in electrical engineering from
Shizuoka University, Shizuoka, Japan, in 1963 and
the M.Eng. and Ph.D. degrees in communication
engineering from Osaka University, Osaka, Japan,
in 1965 and 1968, respectively.
He is currently a Professor in the Department
of Communication Engineering, Graduate School of
Engineering, Osaka University, working in the areas
of radio, mobile, satellite and optical communication
systems and EMC.
Dr. Morinaga is a Member of the IEICE and ITE of Japan.