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Power Control for Fading Channels in Cognitive Radio Networks with Outage-Probability Minimization 被引量:4
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作者 Luan Yu Li Hongzuo Wang Yafei 《China Communications》 SCIE CSCD 2012年第12期108-116,共9页
Cognitive radio allows Secondary Users (SUs) to dynamically use the spectrum resource licensed to Prirmry Users (PUs), and significantly improves the efficiency of spectrum utilization and is viewed as a promising... Cognitive radio allows Secondary Users (SUs) to dynamically use the spectrum resource licensed to Prirmry Users (PUs), and significantly improves the efficiency of spectrum utilization and is viewed as a promising technology. In cognitive radio networks, the problem of power control is an important issue. In this paper, we mainly focus on the problem of power control for fading channels in cognitive radio networks. The spectrum sharing underlay scenario is considered, where SUs are allowed to coexist with PUs on the condition that the outage probability of PUs is below the maximum outage probability threshold limitation due to the interference caused by SUs. Moreover, besides the outage probability threshold which is defined to protect the performance of PUs, we also consider the maximum transmit power constraints for each SU. With such a setup, we emphasize the problem of power control to minimize the outage probability of each SU in fading channels. Then, based on the statistical information of the fading channel, the closed expression for outage probability is given in fading channels. The Dual-Iteration Power Control (DIPC) algorithm is also proposed to minimize the outage probability based on Perron-Frobenius theory and gradient descent method under the constraint condition. Finally, simulation results are illustrated to demonstrate the performance of the proposed scheme. 展开更多
关键词 cognitive radio power control outage probability Perron-Frobenius theory fading channel
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A new layered space-time detection algorithm for frequency selective fading multiple-input multiple-output channels based on particle filter 被引量:1
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作者 杜正聪 唐斌 刘立新 《Chinese Physics B》 SCIE EI CAS CSCD 2006年第11期2481-2488,共8页
In this paper, a new observation equation of non-Gaussian frequency selective fading Bell Labs layered space time (BLAST) architecture system is proposed, which is used for frequency selective fading channels and no... In this paper, a new observation equation of non-Gaussian frequency selective fading Bell Labs layered space time (BLAST) architecture system is proposed, which is used for frequency selective fading channels and non-Gaussian noise in an application environment of BLAST system. With othogonal matrix triangularization (QR decomposition) of the channel matrix, the static observation equation of frequency selective fading BLAST system is transformed into a dynamic state space model, and then the particle filter is used for space-time layered detection. Making the full use of the finite alphabet of the digital modulation communication signal, the optimal proposal distribution can be chosen to produce particle and update the weight. Incorporated with current method of reducing error propagation, a new space-time layered detection algorithm is proposed. Simulation result shows the validity of the proposed algorithm. 展开更多
关键词 particle filter multiple-input multiple-output layered space-time structure frequency selective fading channels
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Outage Probability Analysis of Relay Systems over K-μ Fading Channels 被引量:1
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作者 ZHANG Lingwen YANG Wenkao +1 位作者 ZHANG Jiayi LI Yongzhi 《China Communications》 SCIE CSCD 2014年第10期60-66,共7页
This paper provides an analytical framework for the outage probability evaluation of dual-hop decode-and-forward relay systems operating over K-μfading channels in the presence of co-channel interference. The interfe... This paper provides an analytical framework for the outage probability evaluation of dual-hop decode-and-forward relay systems operating over K-μfading channels in the presence of co-channel interference. The interferers are independent non-identically distributed K-μfading. An accurate analytical-form expression for the cumulative distribution function of the received signal power to interference and noise ratio is derived. Various numerical results are compared with Monte Carlo simulation results in order to corroborate the accuracy of the proposed expressions. Our results show that increasing the value of kappa of main links will decrease the outage probability of relay systems. Furthermore, the system performance degrades with the number of interferences. 展开更多
关键词 co-channel interference fading performance analysis RELAY
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Performance Analysis of Outage Probability and Error Rate of Square M-QAM in Mobile Wireless Communication Systems over Generalized α-μ Fading Channels with Non-Gaussian Noise
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作者 Fares S. Aimehmadi Osamah S. Badarneh 《China Communications》 SCIE CSCD 2018年第1期62-71,共10页
This paper derives new and exact closed-form expressions for the average symbol error rate(SER) of square M-ary quadrature amplitude modulation(M-QAM) in wireless communication systems over theα-μfading channels sub... This paper derives new and exact closed-form expressions for the average symbol error rate(SER) of square M-ary quadrature amplitude modulation(M-QAM) in wireless communication systems over theα-μfading channels subject to an additive non-Gaussian noise. The obtained expressions take into account static and mobile wireless receivers. In addition, a closed-form expression for the outage probability in mobile networks is obtained. Please note that all derived expressions in this paper a valid for integer and non-integer values of the fading parameters. Analytical results are presented to study the impact of noise shaping parameter, severity of fading, and mobility on the average SER. Monte-Carlo simulations results are also provided to validate the accuracy of the analytical results. 展开更多
关键词 α-μ fading SYMBOL error rate NON-GAUSSIAN noise random WAYPOINT mobili-ty model
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Outage Probability Analysis for Modified Decode-and-Forward Model over Nakagami-m Fading Channels
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作者 啜钢 邹钰寒 刘振兴 《China Communications》 SCIE CSCD 2011年第3期145-153,共9页
This paper proposes a modified decodeand-forward(DAF) protocol with a three-node model,which contains two users and one destination.Each user can be either the source or the relay in different frames.We analyze the fo... This paper proposes a modified decodeand-forward(DAF) protocol with a three-node model,which contains two users and one destination.Each user can be either the source or the relay in different frames.We analyze the four cooperative cases in the first frame and run simulations to obtain the optimal power allocation coefficients in the second frame.The closed-form expression of outage probability is derived over Nakagami-m fading channels.Furthermore,we show that the proposed model has better performance than the non-cooperation system and traditional DAF strategy based on the derived outage probability. 展开更多
关键词 cooperative communication decodeand-forward Nakagami-m fading channel outage probability optimal power allocation
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Outage Analysis of Distributed Antenna Systems over Shadowed Nakagami-m Fading Channels
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作者 林思雨 钟章队 艾渤 《China Communications》 SCIE CSCD 2011年第2期103-110,共8页
This paper presents an outage analysis of distributed antennas system(DAS) suffering from shadowed Nakagami-m fading environment where the desired signal also suffers from co-channel interference. The desired signal a... This paper presents an outage analysis of distributed antennas system(DAS) suffering from shadowed Nakagami-m fading environment where the desired signal also suffers from co-channel interference. The desired signal and interfering signal are subjected to path loss,multipath and shadowing fading. Based on Wilkinson's method,the signal to interference ratio(SIR) probability density function(PDF) of fixed DAS is obtained. Some numerical results of outage probability with different parameters are analyzed. The analysis results can provide sufficient precision for evaluating the outage performance of DAS. 展开更多
关键词 distributed antennas system (DAS) outage probability nakagamim fading SHADOWING
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Outage performance of OFDM-based selective decode-and-forward cooperative networks over Weibull fading channels
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作者 Cai Chunxiao Yang Wendong Cai Yueming 《High Technology Letters》 EI CAS 2011年第3期285-289,共5页
The outage performance of OFDM-based decode-and-forward cooperative networks is studied. The channels are modeled as independent Weibull distributed coefficients. A closed-form expression for the outage probability is... The outage performance of OFDM-based decode-and-forward cooperative networks is studied. The channels are modeled as independent Weibull distributed coefficients. A closed-form expression for the outage probability is obtained for three selective relaying schemes in the Weibull fading channels and a derived optimum power allocation method based on the closed form expressions of outage probability debases the outage probability. Monte Carlo simulations verify the analytical results. 展开更多
关键词 OFDM cooperative communication Weibull fading channels DECODE-AND-FORWARD outage probability.
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Outage Performance of Opportunistic Amplify-and-Forward Relaying over Asymmetric Fading Environments
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作者 Sudhan Majhi Youssef Nasser Jean Francois Helard 《International Journal of Communications, Network and System Sciences》 2010年第5期430-433,共4页
This letter analyzes the outage probability of opportunistic amplify-and-forward relaying over asymmetric and independent but non-identically distributed (i.n.d) fading environments. The work investigates the scenario... This letter analyzes the outage probability of opportunistic amplify-and-forward relaying over asymmetric and independent but non-identically distributed (i.n.d) fading environments. The work investigates the scenarios where cooperative nodes are located at different geographical locations. As a result, the different signals are affected by different i.n.d fading channels, one may undergo Rician fading distribution and others may undergo Rayleigh fading distribution. In this letter, a lower bound of the outage probability for various asymmetric fading environments is derived at high SNR by applying the initial value theorem. The analytical model is validated through Monte-Carlo simulation results. 展开更多
关键词 outage Probability Opportunistic RELAYING AMPLIFY-AND-FORWARD RELAYING Rayleigh and RICIAN fading CHANNELS ASYMMETRIC fading CHANNELS Independent and Non-Identically Distributed
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Estimation of Fading Statistics of Nakagami Channel with Weibull Distributed Tolerable Outage Time
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作者 Anjana Jain Prakash D. Vyavahare Leeladhar Arya 《Wireless Engineering and Technology》 2012年第2期77-82,共6页
Characterization of a mobile radio channel plays an important role in designing a reliable wireless communication system. Such channels are analyzed by two state model, namely satisfactory and outage state. This paper... Characterization of a mobile radio channel plays an important role in designing a reliable wireless communication system. Such channels are analyzed by two state model, namely satisfactory and outage state. This paper presents the analysis to estimate fading parameters of wireless channel with omission of certain outage durations which are considered as “Tolerance time”. Minimum outage duration which can be tolerated by a wireless fading channel to achieve desired packet error rate is defined as tolerance time. Normally a system with tolerable minimum outage time is analyzed based on Fade Duration Distribution (FDD) function over Rayleigh channel. In this paper Weibull function is used as FDD for varying tolerance time. The approach is simple and in general applicable from Rayleigh to Nakagami channels. The analysis is extended to study the effect of Tolerance time on channel fading statistics such as Average Fade Duration (AFD) and frequency of outage. Further the effects of various fade margin and Doppler spread on fading parameters are also investigated. The analysis can also be used in case of timeout expiration, connection resetting and congestion window control. 展开更多
关键词 fading Statistics Tolerance TIME FADE Duration Distribution FUNCTION Weibull FUNCTION NAKAGAMI Wireless CHANNEL Minimum outAGE TIME
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Fading Channels Parametric Data Simulation Supported by Real Data from Outdoor Experiments
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作者 Azra Kapetanovic Mohamed A. Zohdy Redhwan Mawari 《Journal of Signal and Information Processing》 2017年第3期113-131,共19页
Optimizing the estimates of received power signals is important as it can improve the process of transferring an active call from one base station in a cellular network to another base station without any interruption... Optimizing the estimates of received power signals is important as it can improve the process of transferring an active call from one base station in a cellular network to another base station without any interruptions to the call. The lack of effective techniques for estimation of shadow power in fading mobile wireless communication channels motivated the use of Kalman Filtering (KF) as an effective alternative. In our research, linear second-order state space Kalman Filtering was further investigated and tested for applicability. We first created simulation models for two KF-based estimators designed to estimate local mean (shadow) power in mobile communications corrupted by multipath noise. Simulations were used extensively in the initial stage of this research to validate the proposed method. The next challenge was to determine if the models would work with real data. Therefore, in [1] we presented a new technique to experimentally characterize the wireless small-scale fading channel taking into consideration real environmental conditions. The two-dimensional measurement technique enabled us to perform indoor experiments and collect real data. Measurements from these experiments were then used to validate simulation models for both estimators. Based on the indoor experiments, we presented new results in [2], where we concluded that the second-order KF-based estimator is more accurate in predicting local shadow power profiles than the first-order KF-based estimator, even in channels with imposed non-Gaussian measurement noise. In the present paper, we extend experiments to the outdoor environment to include higher speeds, larger distances, and distant large objects, such as tall buildings. Comparison was performed to see if the system is able to operate without a failure under a variety of conditions, which demonstrates model robustness and further investigates the effectiveness of this method in optimization of the received signals. Outdoor experimental results are provided. Findings demonstrate that the second-order Kalman filter outperforms the first-order Kalman filter. 展开更多
关键词 KALMAN Filtering SMALL-SCALE fading Large-Scale fading
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Outage performance of multihop free-space optical communication system over exponentiated Weibull fading channels with nonzero boresight pointing errors
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作者 刘晓霞 王平 曹天 《Optoelectronics Letters》 EI 2016年第5期366-369,共4页
The outage performance of the multihop free-space optical(FSO) communication system with decode-and-forward(DF) protocol is studied by considering the joint effects of nonzero boresight pointing errors and atmospheric... The outage performance of the multihop free-space optical(FSO) communication system with decode-and-forward(DF) protocol is studied by considering the joint effects of nonzero boresight pointing errors and atmospheric turbulence modeled by exponentiated Weibull(EW) distribution. The closed-form analytical expression of outage probability is derived, and the results are validated through Monte Carlo simulation. Furthermore, the detailed analysis is provided to evaluate the impacts of turbulence strength, receiver aperture size, boresight displacement, beamwidth and number of relays on the outage performance for the studied system. 展开更多
关键词 pointing turbulence Weibull nonzero fading aperture receiver validated transmit modeled
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Spectral Efficiency of Cell-Free Massive MIMO with LSFD Receiver Under Spatially Correlated Rayleigh Fading Channels
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作者 Li Ning Fan Pingzhi 《China Communications》 2025年第8期1-18,共18页
This paper investigates the uplink spectral efficiency of distributed cell-free(CF)massive multiple-input multiple-output(mMIMO)networks with correlated Rayleigh fading channels based on three different channel estima... This paper investigates the uplink spectral efficiency of distributed cell-free(CF)massive multiple-input multiple-output(mMIMO)networks with correlated Rayleigh fading channels based on three different channel estimation schemes.Specifically,each access point(AP)first uses embedded pilots to estimate the channels of all users based on minimum mean-squared error(MMSE)estimation.Given the high computational cost of MMSE estimation,the low-complexity element-wise MMSE(EW-MMSE)channel estimator and the least-squares(LS)channel estimator without prior statistical information are also analyzed.To reduce non-coherent and coherent interference during uplink payload data transmission,simple centralized decoding(SCD)and large-scale fading decoding(LSFD)are examined.Then,the closedform expressions for uplink spectral efficiency(SE)using MMSE,EW-MMSE,and LS estimators are developed for maximum ratio(MR)combining under LSFD,where each AP may have any number of antennas.The sum SE maximization problem with uplink power control is formulated.Since the maximization problem is non-convex and challenging,a block coordinate descent approach based on the weighted MMSE method is used to get the optimal local solution.Numerical studies demonstrate that LSFD and efficient uplink power control can considerably increase SE in distributed CF m MIMO networks. 展开更多
关键词 CF mMIMO channel estimation largescale fading decoding simple centralized decoding sum SE optimization
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RIS-Aided Secure Communications over Fisher-Snedecor F Fading Channels
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作者 Farshad Rostami Ghadi Zhu Weiping Diego Martin 《China Communications》 2025年第7期195-207,共13页
In this paper,we investigate the performance of physical layer security(PLS)over reconfigurable intelligent surfaces(RIS)-aided wireless communication systems,where all fading channels are modeled with Fisher-Snedecor... In this paper,we investigate the performance of physical layer security(PLS)over reconfigurable intelligent surfaces(RIS)-aided wireless communication systems,where all fading channels are modeled with Fisher-Snedecor F distribution.Specifically,we consider a RIS with N reflecting elements between the transmitter and the legitimate receiver to develop a smart environment and also meliorate secure communications.In this regard,we derive the closed-form expressions for the secrecy outage probability(SOP)and average secrecy capacity(ASC).We also analyze the asymptotic behaviour of the SOP and ASC by exploiting the residue approach.Monte-Carlo(MC)simulation results are provided throughout to validate the correctness of the developed analytical results,showing that considering RIS in wireless communication systems has constructive effects on the secrecy performance. 展开更多
关键词 average secrecy capacity Fisher-Snedecor F fading channels physical layer security reconfigurable intelligent surfaces secrecy outage probability
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Construction of Polar Codes in Correlated Block Fading Channels via Split Polar Spectrum
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作者 Li Yan Niu Kai 《China Communications》 2025年第10期137-148,共12页
The construction of polar codes in corre-lated block fading channels is still an open issue to be solved.In this paper,to explicitly reveal the impact of correlation on error performance of polar coded diver-sity comm... The construction of polar codes in corre-lated block fading channels is still an open issue to be solved.In this paper,to explicitly reveal the impact of correlation on error performance of polar coded diver-sity communication systems,an integrated framework has been established to analyze the theoretical error performance of polar codes in correlated block fading channels.First,the upper bound on error probabil-ity of polarized channels is derived based on split po-lar spectrum,which is fully determined by covariance channel matrix as well as the block-wise weight distri-bution of the corresponding polar subcode.Further,to facilitate practical implementations,we design a con-struction metric named polarized correlation weight(PCW)to generate polar codes in correlated block fad-ing channels.Finally,simulation results on block error rate indicate that the proposed metric can exhibit both diversity gain and coding gain compared to the con-ventional methods under successive cancellation de-coding. 展开更多
关键词 CONSTRUCTION correlated block Rayleigh fading channel polar codes split polar spectrum
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Closed BER expression of multi-user DS UWB systemsin indoor fading channel 被引量:3
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作者 樊祥宁 黄勇富 毕光国 《Journal of Southeast University(English Edition)》 EI CAS 2006年第1期16-20,共5页
The bit error rate (BER) performance of multi-user direct spreading bi-phase shift keying (DSBPSK) direct impulse ultra wideband (UWB) systems is analyzed and simulated based on a statistical indoor multi-path f... The bit error rate (BER) performance of multi-user direct spreading bi-phase shift keying (DSBPSK) direct impulse ultra wideband (UWB) systems is analyzed and simulated based on a statistical indoor multi-path fading channel model. The BER of the system is theoretically derived and given in closed form, which is expressed in terms of channel parameters and system parameters such as pulse width parameter, pulse repeat period, user number and pulse waveform. With this BER expression, the effect of these parameters on the system performance can be evaluated in a uniform way. Simulation results well match the theory numerical results, and prove that the multi-access interference (MAI) of DS-BPSK UWB is a normal distribution. 展开更多
关键词 ultra wideband (UWB) direct spreading (DS) bi-phase shift keying (BPSK) MULTI-USER fading channel performance analysis
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Analysis of GPS ionospheric scintillation signal amplitude fading characteristics at low latitude 被引量:2
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作者 祝雪芬 陈熙源 +2 位作者 黄浩乾 陈建锋 徐斌铖 《Journal of Southeast University(English Edition)》 EI CAS 2016年第4期484-488,共5页
The received satellite signal amplitude is attenuated greatly due to the strong ionospheric scintillation for lowlatitude regions, which causes the GPS tracking loop's loss of lock, the positioning errors to increase... The received satellite signal amplitude is attenuated greatly due to the strong ionospheric scintillation for lowlatitude regions, which causes the GPS tracking loop's loss of lock, the positioning errors to increase, and navigation to be interrupted. To solve the above problems, a novel signal processing algorithm is proposed based on the GPS L1 software receiver during strong ionospheric scintillation using the multi-channel intermediate frequency(IF) data sampling system. Tens of thousands of fading events are obtained based on the signal intensity measurement. The amplitude fading characteristics in the lowlatitude region are analyzed,including fading duration, time separation between fades and the numbers of signal intensity fading events. The fading thresholds are set to be 15 and 10 dB, respectively. The main fading time is very short in- 15 dB fading threshold, which generally is less than 20 ms. The main time separation between fades is less than 2 s in a single one-hour period from the time 23: 00 to 24: 00. Therefore, it has the characteristic of a short reacquisition time for the receiver designed to reduce the probability of simultaneous loss of lock for some satellites.Subsequently, the acquisition, tracking and PVT(position,velocity and time) calculations are completed by the customdesigned software receiver. The results show that the impact analysis of ionospheric scintillation on GPS amplitude attenuation in the lowlatitude region is helpful for designing the advanced tracking algorithm and to improve the robustness and accuracy of the GPS receiver. 展开更多
关键词 GPS L1 ionospheric scintillation amplitude fading characteristics
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Electrochemical behavior and cyclic fading mechanism of LiNi_(0.5) Mn_(0.5) O_2 electrode in LiNO_3 electrolyte
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作者 王海燕 何菡娜 +2 位作者 周南 金冠华 唐有根 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2014年第2期415-422,共8页
Electrochemical behavior of layered LiNi0.5Mn0.5O2 in LiNO3 aqueous solution and its cyclic fading mechanism in electrolytes with different pH values were investigated. CV results show that LiNi0.5Mn0.5O2 has good ele... Electrochemical behavior of layered LiNi0.5Mn0.5O2 in LiNO3 aqueous solution and its cyclic fading mechanism in electrolytes with different pH values were investigated. CV results show that LiNi0.5Mn0.5O2 has good electrochemical reversible behaviors in 5 mol/L LiNO3 solution. Meanwhile, the electrode in 5 mol/L LiNO3 with pH value of 12 demonstrates the best electrochemical stability. Based on the electrochemical impedance spectroscopy (EIS), X-ray diffraction (XRD) and scanning electron microscopy (SEM) results, it is proposed that suppressed charge-transfer resistance is the major reason, which is probably ascribed to the more stable electrode surface and less structure change. 展开更多
关键词 lithium ion battery cyclic fading mechanism cyclic voltammetry LiNO3 solution
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电子音乐中Fade In及Fade Out效果应用 被引量:1
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作者 潘广宇 《歌海》 2008年第6期26-27,共2页
在电子音乐处理手法多如牛毛的今天,人们对电子音乐审美正随着电子音乐地发展而提高。但劣质CD音乐同时抑制着电子音乐的整体发展,影响人们的音乐审美。因此,本文通过对音乐Fade-In及Fade-Out音频前期制作中的情绪辅助表达、录音过程中... 在电子音乐处理手法多如牛毛的今天,人们对电子音乐审美正随着电子音乐地发展而提高。但劣质CD音乐同时抑制着电子音乐的整体发展,影响人们的音乐审美。因此,本文通过对音乐Fade-In及Fade-Out音频前期制作中的情绪辅助表达、录音过程中的音频剪辑、CD成品刻录中的防止爆破三种作用的研究,力图在尽量保持电子音乐高品质的同时,不断的尝试新的操作构思,为电子音乐地发展创新锦上添花。 展开更多
关键词 FADE In及Fade out 电子音乐 音频
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Concatenated Trellis Coding and CPM for DS/SSMA Communications in Rayleigh Fading Channel
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作者 仰枫帆 梁树雄 毕光国 《Journal of Southeast University(English Edition)》 EI CAS 1999年第1期9-16,共8页
In this paper, direct sequence spread spectrum multiple access (DS/SSMA) communication system employing serially concatenated trellis coded modulation (TCM) and continuous phase modulation (CPM) over flat Rayleigh fa... In this paper, direct sequence spread spectrum multiple access (DS/SSMA) communication system employing serially concatenated trellis coded modulation (TCM) and continuous phase modulation (CPM) over flat Rayleigh fading channel are presented. The performance of this concatenated TCM/CPM DS/SSMA system is exploited by the theoretical analysis and numerical simulations. The results demonstrate that significant improvements in error probability of this DS/SSMA system over the system with single TCM or CPM of different modulation indices can be achieved under the same conditions. 展开更多
关键词 concatenated TCM/CPM direct sequence spread spectrum multiple access Rayleigh fading channel
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Multiple Fading Factors Kalman Filter for SINS Static Alignment Application 被引量:28
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作者 GAO Weixi MIAO Lingjuan NI Maolin 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2011年第4期476-483,共8页
To solve the problem that the standard Kalman filter cannot give the optimal solution when the system model and stochastic information are unknown accurately, single fading factor Kalman filter is suitable for simple ... To solve the problem that the standard Kalman filter cannot give the optimal solution when the system model and stochastic information are unknown accurately, single fading factor Kalman filter is suitable for simple systems. But for complex systems with multi-variable, it may not be sufficient to use single fading factor as a multiplier for the covariance matrices. In this paper, a new multiple fading factors Kalman filtering algorithm is presented. By calculating the unbiased estimate of the innovation sequence covariance using fenestration, the fading factor matrix is obtained. Adjusting the covariance matrix of prediction error Pk|k-1 using fading factor matrix, the algorithm provides different rates of fading for different filter channels. The proposed algorithm is applied to strapdown inertial navigation system (SINS) initial alignment, and simulation and experimental results demonstrate that, the alignment accuracy can be upgraded dramatically when the actual system noise characteristics are different from the pre-set values. The new algorithm is less sensitive to uncertainty noise and has better estimation effect of the parameters. Therefore, it is of significant value in practical applications. 展开更多
关键词 inertial navigation systems STRAPDOWN initial alignment fading filter multiple fading factors FENESTRATION
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