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Pilot-Assisted Channel Estimation for

STBC-Based Wireless MIMO-OFDM Systems


Bo-Chiuan Chen Wen-Jeng Lin Jung-Shan Lin
Dept. of Electrical Engineering Dept. of Electrical Engineering Dept. of Electrical Engineering
National Chi Nan University National Chi Nan University National Chi Nan University
Nantou, Taiwan 545, R.O.C. Nantou, Taiwan 545, R.O.C. Nantou, Taiwan 545, R.O.C.
s3323527@ncnu.edu.tw s3323541@ncnu.edu.tw jslin@ncnu.edu.tw

ABSTRACT many advantages instead of conventional single-carrier cases.


With equipping multiple antennas at both transmitter and The optimal schemes of MCM techniques are orthogonal
receiver ends, the desired signals in the OFDM wireless com- frequency division multiplexing (OFDM) [1, 2] transmis-
munications could be transmitted and received through mul- sion techniques which have widely attracted for research
tiple uncorrelated channels for achieving twofold benefits and application nowadays. OFDM systems could cope with
and high flexibility. For this kind of MIMO-OFDM sys- frequency-selective fading effect caused by multipath prop-
tems, if the assistance of channel estimation is under con- agation delay spread through dividing available bandwidth
sideration, the overall system performance is able to be fur- into many sub-bands to create a frequency-flat fading chan-
ther enhanced. This paper proposed a pilot-symbol-assisted nel condition. Then, each portion of data is carried through
channel estimation technique for MIMO architecture by as- each subcarrier for signals transmission. Therefore, the band-
signing known pilot symbols orthogonally between different width could be saved quite a little due to orthogonally over-
transmitting antennas. The mixed transmitted signals could lapped subcarriers. In addition, OFDM could be easily im-
be completely separated at the receiver end due to the or- plemented by manipulating fast Fourier transform (FFT)
thogonal property of pilot blocks. Some simulation results algorithm with an acceptable cost.
are given to illustrate the superior overall performance that Multiple man-made uncorrelated or independent wireless
can be achieved by the proposed channel estimation algo- propagation channels could be achieved by equipping mul-
rithm in MIMO-OFDM systems under COST 207 mobile tiple antennas at both transmitter and receiver ends with
wireless environments. an appropriate separation distance. The advantage of using
multiple-input multiple-output (MIMO) [3, 4, 5] architec-
ture is to provide more opportunities to transmit and re-
Categories and Subject Descriptors ceive replicas of same signals for ensuring high bit error rate
G.1.1 [Numerical Analysis]: Interpolation—interpolation (BER) performance, that is, achieving high linkage qual-
formulas ity of service (QoS). It is exactly the concept of spatial di-
versity (SD) techniques. Here, Alamouti’s space-time block
General Terms coding (STBC) [6, 7] SD criterion is utilized for combining
with OFDM schemes to construct the so-called STBC-based
Algorithms, performance wireless MIMO-OFDM systems which are expected to ob-
tain twofold benefits.
Keywords Pilot-symbol-assisted channel estimation (PSACE) tech-
niques have been successfully applied to OFDM systems for
OFDM, MIMO, channel estimation, pilot symbols
obtaining a remarkable enhancement. In [8] and [9], they
had provided the performance comparison among various
1. INTRODUCTION designs of pilot assignments using different kinds of mod-
The idea of multi-carrier modulation (MCM) techniques ulation schemes and interpolation techniques. For MIMO-
is a good transmission concept that can be adopted to gain OFDM systems, PSACE methods based on least squares
(LS) and minimum mean-squared error (MMSE) algorithms
∗J.-S. Lin is also with the Graduate Institute of Communi-
had been investigated in [10, 11, 12]. In [10], the advan-
cation Engineering, National Chi Nan University, R.O.C. tages of adopting MIMO-configured structures for OFDM
had been demonstrated. In [11], the difference between zero-
form and nonzero-form pilot assignments was analyzed for
the design criterion. Another investigation for adopting dif-
Permission to make digital or hard copies of all or part of this work for ferent antenna configurations had been illustrated in [12] for
personal or classroom use is granted without fee provided that copies are
not made or distributed for profit or commercial advantage and that copies general extension cases.
bear this notice and the full citation on the first page. To copy otherwise, to In addition, the arrangement and properties of pilots for
republish, to post on servers or to redistribute to lists, requires prior specific multi-antenna structures are certainly different from that of
permission and/or a fee. single-antenna cases. Therefore, some modifications must
IWCMC’07, August 12–16, 2007, Honolulu, Hawaii, USA. be considered for extending PSACE techniques in MIMO-
Copyright 2007 ACM 978-1-59593-695/07/0008 ...$5.00.
Pilot x̄(1) (t) 0 1 Q−1
Insertion AWGN Ns NCP τ τ ··· τ
Ns Ts (1)
Data QPSK 2×2 IFFT Channel 1 (1)
α0 (t)
(1)
α1 (t) αQ − 1 (t)
Source MOD.
STBC
ENC. IFFT Channel 2
Σ
Σ

Data QPSK ML STBC


FFT Σ r̄(t)
Sink DeMod. Detection DEC.
Σ
w(t)
Pilot
Extraction
(2) (2) (2)
α0 (t) α1 (t) αQ − 1 (t)
Pilots on Tx.1 x̄(2) (t)
L.I. Channel
Ns NCP τ τ ··· τ
Pilots on Tx.2
L.I. Estimation Ns Ts 0 1 Q−1

Figure 1: The system model of STBC-based wireless Figure 2: Uncorrelated tapped-delay line transver-
2ISO-OFDM transceivers. sal filters for two channels.

OFDM schemes [13, 14]. However, the importance of or- where the kp -th inserted pilot symbol is presented by index
thogonality of pilots between multiple transmitters did not kp ; Ns and Np represent the total number of OFDM subcar-
be verified, and the detail for recovery of combined signals in riers and used pilots, respectively. Note that the assignment
the receiver end was also absent in the previous studies. In of pilot symbols is according to orthogonal comb-type pilot
this paper, this gap is filled while an efficient channel estima- patterns. Except the part of “pilot”, the total number of
tion algorithm for MIMO-OFDM is proposed for achieving available data symbols is equal to (Ns − Np ) shown as the
superior results. The remainder of this paper is organized as “data” portion.
follows: The adopted system and channel models in MIMO- In Fig. 2, the two uncorrelated wireless channels could be
OFDM systems are concisely described in Section 2. The modeled by two tapped-delay line transversal filters with
assignment pattern of pilot symbols and proposed channel 2Q mutually independent time-varying Rayleigh faders re-
estimation algorithm are completely presented in Section 3. ferring to certain power delay profiles. Due to the uncor-
The comparative simulation results for performance demon- related channel conditions, the total effect caused by two
stration under COST 207 mobile wireless environments are propagation channels reflecting on the received signals is ac-
analyzed in Section 4. Some concluding remarks are finally tually a summation result [15]. Therefore, channel impulse
given in Section 5. responses of the β-th wireless channel h(β) (t; τ ) can be de-
scribed as:
2. MIMO-OFDM SYSTEM MODEL Q−1
X (β)
Based on OFDM transmission schemes, two transmitting h(β) (t; τ ) = αq (t) δ(t − qτ ), β = 1, 2, (2)
q=0
antennas and one receiving antenna are configured to form
the 2ISO transmit diversity as [6]. The adopted system and the continuous-time received signals at time instance t
model of STBC-based wireless 2ISO-OFDM transceivers has can be represented as follows:
been established and illustrated in Fig. 1 completely. The Nt
X
signaling procedure is described as follows: The single QPSK- r̄(t) = h(β) (t; τ ) ∗ x̄(β) (t) + w(t)
modulated symbol stream is first separated into two STBC- β=1
coded symbol streams by Alamouti’s 2 × 2 STBC SD cri- Nt Q−1
X X
terion for forwarding coded replicas of same data blocks = α(β)
q (t) x̄
(β)
(t − qτ ) + w(t), Nt = 2. (3)
in space and time. Throughout this paper, one block is β=1 q=0
consisted of two consecutive symbols for the convenience where the total path number of a single wireless channel is
of expression. After inserting known pilot symbols accord- (β)
equal to Q, the corresponding tap gains are αq (t), the de-
ing to specific pilot patterns, the transmitted signals on lay spread interval of the q-th tap is qτ as well as the total
each branch are modulated and multiplexed through in- number of transmitting branches is represented by Nt . Af-
verse FFT (IFFT) by the unit of an OFDM symbol. The ter undergoing wireless channel effect, the continuous-time
OFDM frames including the extension of cyclic prefix (CP) received signals r̄(t) could be expressed as the combination
are then launched into two wireless channels for data trans-
contributed from two transmitted signals x̄(1) (t) and x̄(2) (t)
mission. The STBC-coded signals with pilots of the n-th
simultaneously with corresponding noise terms w(t).
OFDM symbol carried on the k-th OFDM subcarrier which
At the receiver end, the signals’ recovery procedure is ex-
are forwarded through the β-th transmitting antenna can be
plained as Fig. 1: The equivalent baseband received signals
expressed in the following:
 are firstly removing the CP portion and passing through
 Pilot: X (β) [n, kp ], kp = 0, 1, · · · , Np − 1, FFT for demultiplexing and demodulating as the result ex-
(β) pressed as follows. The part of received pilot symbols R[n, kp ]
X [n, k] = (1)
 Data: X (β) [n, k], otherwise. are extracted according to specified pilot patterns block by
block. Then the received pilot blocks are operated with
β = 1, 2; k = 0, 1, · · · , Ns − 1; kp = 0, 1, · · · , Np − 1. the uncorrupted pilot blocks for estimating the channel fre-
k 2Nr The orthogonal comb-type pilot pattern on two transmit-
Tx.1 Nr = Ns /Np
n DDDDDD DD DDDDDD ting antennas is fully assigned at all OFDM symbol index
··· n with a repeated period 2Nr between OFDM subcarrier
··· index k. Two successive pilot symbols are assigned together
··· to form a pilot block and the spacing between blocks is dis-
··· tributed equally in frequency grids. Due to the unity trans-
n: OFDM symbol index D: data symbols
k: subcarrier index mission power constraint, halved-power for each pilot sym-
bol in 2ISO configurations is very suitable. In addition, the
k 2Nr orthogonality property is indeed essential to facilitate sepa-
Tx.2
n rating of the mixed transmitted pilot symbols from different
DDDDDD DD ··· DDDDDD branches. With the assignment, the CFR’s on pilot posi-
··· tions of two uncorrelated wireless channels could be able to
··· estimate correctly.
··· The mathematical definition of orthogonality between pi-
lot blocks is given as follows. For instance, if the received
: orthogonal pilot blocks
pilot block transmitted from branch one is operated with the
conjugate version of itself, the result will be the power sum of
(β)
Figure 3: The assignment of comb-type pilot pattern these two pilot symbols which is called block power Pblock .
with orthogonal property. However, the result will be always zero while pilot blocks
from different transmitting antennas are operated crosswise
to each other. The operations of pilot blocks at indices kp
quency responses (CFR’s) on all pilot positions. and kp + 1 on the β-th antenna are presented as follows:
(β)
Pilot: R[n, kp ], kp = 0, 1, · · · , Np − 1, Pblock ≡ X (β) [n, kp ] X (β) [n, kp ]
( ∗

R[n, k] = (4) ∗
Data: R[n, k], otherwise. + X (β) [n, kp + 1] X (β) [n, kp + 1]; (5)
After linear interpolation, the estimated CFR’s on all data ∗
positions are gotten. The mixed data blocks now can be sep- X (1) [n, kp ] X (2) [n, kp ]

arated completely by a liner combination procedure, that is + X (1) [n, kp + 1] X (2) [n, kp + 1] = 0,
actually for STBC decoding, after removing the part of pi-
lot symbols. Finally, the most likely results are chosen by ∗
X (2) [n, kp ] X (1) [n, kp ]
maximum-likelihood detection (MLD) and the QPSK de- ∗
modulator would recover the bit streams from the detected + X (2) [n, kp + 1] X (1) [n, kp + 1] = 0. (6)
results.
There are two groups of pilot assignment both can satisfy
the previous orthogonal property. They are called “nonzero”
3. CHANNEL ESTIMATION ALGORITHM and “zero” pilot forms [11], respectively, as well as the ma-
In order to utilize the advantages of PSACE techniques for jor difference between them is also analyzed as follows: For
2ISO-OFDM systems, some modifications must be consid- nonzero-form cases, the pilot symbols are simultaneously
ered in the following: First of all, the amount of total pilot transmitted from two branches during every symbol inter-
symbols will be multiplied by the number of transmitting an- val. For zero-form cases, the specific pilot blocks are al-
tennas, it means that more pilots are necessary for MIMO ternatively sent through two transmitting antennas, that is,
architecture. Secondly, pilot blocks transmitted on different antenna one is consecutively transmitting two pilots at first
antennas must be orthogonal to each other to facilitate the block while antenna two keeps silence, and the situation will
decoupling of multiple mixed data blocks by utilizing the be contrary during next block period.
estimated CFR’s after STBC decoding, then the separated Due to the alternately transmitted pilot symbols, the fash-
symbols could be correctly detected by MLD individually to ion of zero-form assignment can utilize full unity power for
recover the original transmitted signals. Thirdly, how to as- transmission while the ITAI terms would never be occurred.
sign the pilot blocks on two transmitting branches while the However, less channel information of CFR’s is collected than
inter-transmitter-antenna-interference (ITAI) between each that of nonzero-form cases because half the chances of chan-
other could be completely avoided is also discussed in detail nel estimation are performed. In other words, the pilot spac-
here. ing here is enlarged equal to 4Nr and the degraded estima-
In this paper, comb-type pilot patterns are adopted for tion performance could be expected at the same time.
channel estimation in STBC-based wireless 2ISO-OFDM sys- Although both of them can hold the orthogonality prop-
tems to provide good QoS in high-speed mobile communi- erty shown as (5) and (6), we still should not waste all the
cation environments. For achieving the purpose, pilot as- available pilot tones for achieving superior channel estima-
signment fashions would be adjusted to satisfy the follow- tion results. On the contrary, the patterns of pilot assign-
ing criterions: The allocation of pilot symbols should be ment without orthogonal properties are definitely unable to
equal-spaced and equal-powered with orthogonality prop- be adopted. In addition, the performance resulting from
erty, moreover, the minimal number of used pilot symbols the pilot assignments which own same properties is almost
must be greater than or at least equal to the total tap num- identical in spite of the setting of complex pilot values. Fi-
ber of channel models [11, 12, 13, 14]. The proper pilot as- nally, the orthogonal nonzero-form pilot assignments will be
signment between two transmitting branches has been well adopted in this paper.
designed in Fig. 3. After accomplishing the pilot assignments on two branches,
channel estimation techniques for STBC-based 2ISO-OFDM
systems are then developed. At the receiver end, the portion Table 1: Model of 4-path RA, σrms ≃ 0.093 µs
of pilot blocks are firstly extracted from the FFT-processed Path Delay (µs) Power (dB)
baseband received signals R[n, k] according to specific pi- 0 0.0 0.00
lot patterns block by block. The pilot blocks, R[n, kp ] and 1 0.2 −7.99
R[n, kp +1], can be expressed as the combination of two pairs 2 0.4 −15.98
known pilots which are transmitted from different anten- 3 0.6 −23.97
nas passing through two uncorrelated channels, then adding
with the corresponding noise terms:
After reformulating (11) using (5) and (6), the final estima-
R[n, kp ] = X (1) [n, kp ] H (1) [n, kp ] tion results can be simplified expressed as follows:
+ X (2) [n, kp ] H (2) [n, kp ] + W [n, kp ], (1)
Ĥ (1) [n, kp ] = Pblock H (1) [n, kp ] + W̄ (1) [n, kp ], (12)
(1) (1)
R[n, kp + 1] = X [n, kp + 1] H [n, kp + 1] similar results of CFR’s for the 2nd channel can be obtained
(2) (2) through performing the same procedure repeatedly by using
+ X [n, kp + 1] H [n, kp + 1]
the pilot blocks from transmitting branch two:
+ W [n, kp + 1]. (7)
(2)
Ĥ (2) [n, kp ] = Pblock H (2) [n, kp ] + W̄ (2) [n, kp ], (13)
The principal notion of the proposed channel estimation
algorithm is to manipulate the orthogonality between pilot where the total transmission power of pilot blocks is unity,
blocks for performing channel estimation in 2ISO-OFDM (1) (2)
Pblock = Pblock = 1, as well as W̄ (1) [n, kp ] and W̄ (2) [n, kp ]
systems while the mixed transmission signals could be re- both represent the noise and interference terms. Through
covered correctly. Therefore, the extracted pilot blocks are the proposed channel estimation algorithm, the CFR’s of
operated with the conjugate version of uncorrupted pilot two uncorrelated channels on all pilot positions, Ĥ (1) [n, kp ]
blocks which are assigned for transmitting antenna one and and Ĥ (2) [n, kp ], could be estimated accurately and sepa-
antenna two sequentially. The algorithm is now illustrated rately while high signal-to-noise ratio (SNR) conditions are
as follows: achieved under frequency-flat fast fading channel environ-

Ĥ (β) [n, kp ] = X (β) [n, kp ] R[n, kp ] ments.
(1)
∗ Finally, all the CFR’s on data positions, Ĥe [n, k] and
+ X (β) [n, kp + 1] R[n, kp + 1]. (8) (2)
Ĥe [n, k], could be completely acquired through first-order
For the sake of obtaining the estimation results, the CFR’s linear interpolation techniques. The available data symbols
are assumed identical between two successive subcarriers then could be reconstructed individually after performing
and vary from block to block in frequency direction. Af- the procedures of STBC decoding and MLD detection.
terwards, the actual and estimated CFR’s are presented as
follows, respectively: 4. COMPARATIVE SIMULATIONS
H (β) [n, kp ] = H (β) [n, kp + 1] = H (β) [n, 2kb ], (9) The simulation parameters for STBC-based wireless 2ISO-
OFDM transmission systems are now listed in the following:
Ĥ (β) [n, kp ] = Ĥ (β) [n, kp + 1] = Ĥ (β) [n, 2kb ], (10) A QPSK-modulated OFDM scheme with 2ISO structures of
using two transmitting antennas and one receiving antenna
Np is adopted. Alamouti’s 2 × 2 STBC SD criterion is manipu-
kb = 0, 1, · · · ,
− 1; β = 1, 2.
2 lated for achieving transmitter diversity. The total number
This kind of channel condition is called “block flat-fading” of subcarriers Ns is 1024 with NCP = 128, and the duration
and its physical meaning indicates that the channel envi- of an OFDM symbol T and cyclic extension TCP is 204.8 µs
ronments are tending to light multipath effect, that is, less and 25.6 µs, respectively. The central frequency fc is set to
delay path number and short rms delay spread interval. Un- be 1.9 GHz, transmission data rate Rbit could be achieved
der this important assumption, the CFR’s at block index kb , 10 Mbps and bandwidth W of 5.625 MHz is used. The pi-
that is at pilot index kp = 2kb , of the β-th channel could be lot symbols are assigned according to comb-type pilot pat-
estimated due to the orthogonality property in (5) and (6). terns as well as the orthogonal and nonzero pilot properties
After expanding (8) by using the pilot blocks from transmit- are considered. Furthermore, the total transmission power
ting antenna one, the estimation results of the 1st channel is constrained to unity. The simulated channel models are
can be performed in the following: specified according to COST 207 4-path rural area (RA), 6-
path typical urban (TU) and 6-path bad urban (BU), whose
Ĥ (1) [n, kp ] environment parameters are presented in Table 1, Table 2
 2 2  and Table 3, respectively.
=
(1) (1) (1)
X [n, kp ] + X [n, kp + 1] H [n, kp ] +
In order to investigate the limitation of the proposed chan-
nel estimation algorithm, BER performance is now sequen-
 tially observed in 4-path RA, 6-path TU and 6-path BU

X (1) [n, kp ] X (2) [n, kp ] + Rayleigh fading channel models. In Fig. 4, BER perfor-
mance under 4-path RA with pilot-to-data ration (PDR)

 equal to 1/32, that is using 32 pilot tones for channel estima-
X (1) [n, kp + 1] X (2) [n, kp + 1] H (2) [n, kp ] + tion of total 1024 subcarriers, is very excellent at low mobile
∗ ∗
speed. In expectation, the performance is degraded while
X (1) [n, kp ] W [n, kp ] + X (1) [n, kp + 1] W [n, kp + 1]. (11) the vehicle velocity is increased. Even though the speed is
4−path RA fading channel, PDR = 1/32
0
Table 2: Model of 6-path TU, σrms ≃ 0.616 µs 10
v = 120 km/h
Path Delay (µs) Power (dB) v = 80 km/h
v = 40 km/h
0 0.0 0.00 −1
10
v = 20 km/h
1 0.2 −0.87 v = 3 km/h

2 0.6 −2.61 −2
10
3 1.6 −6.95
4 2.4

BER
−10.42 −3
10
5 5.0 −21.71
−4
10

Table 3: Model of 6-path BU, σrms ≃ 2.047 µs −5


10
Path Delay (µs) Power (dB)
0 0.0 0.00
−6
10
1 0.4 −1.74 0 5 10 15 20 25 30 35 40
SNR = Eb/N0 [dB]
2 1.0 −4.34
3 1.6 −6.95
4 5.0 −3.01 Figure 4: BER comparison at different mobile ve-
5 6.6 −9.96 locity in 4-path RA channel with PDR = 1/32.

4−path RA fading channel, PDR = 1/4


0
accelerated to 120 km/h, the BER level could still achieve 10
v = 120 km/h
about 10−4 as SNR is in excess of 30 dB. Furthermore, the v = 80 km/h
PDR could be again increased to 1/4 for more observation −1
10
v = 40 km/h
v = 20 km/h
in the same channel model. As the result shown in Fig. 5, v = 3 km/h
the BER levels are all slightly improved while velocity is −2
10
under 80 km/h, especially for the situations around middle
mobile speed. However, the performance of low-speed cases
BER

−3
10
only raises little, this is due to that the PDR at 1/32 is
already enough for performing channel estimation well in 4-
−4
path RA. Some concluding remarks are recorded: For 4-path 10

RA environments, the most proper amount of PDR would


be 1/32. Pilots are merely occupied a very little portion −5
10
of usable subcarriers. It implies that the estimation results
are very efficient as well as the proposed channel estimation −6
10
0 5 10 15 20 25 30 35 40
algorithm could perform very well. SNR = Eb/N0 [dB]
The amount of needed pilots would be further increased
again due to that the multipath effect in 6-path TU chan-
nel environments must be heavier than that of 4-path RA Figure 5: BER comparison at different mobile ve-
cases. The most proper PDR selection for channel estima- locity in 4-path RA channel with PDR = 1/4.
tion under 6-path TU is equal to 1/4. As the PDR is fur-
ther increased, the improvement could be probably inferred
very little, however, the transmission data rate would be channel estimation algorithm in Fig. 7. Due to the severer
significantly decreased. Hence, we really suggest that the multipath effect than that of TU, the PDR must be highly
PDR would not be larger than 1/4 for achieving an efficient increased to 1/2 for achieving acceptable BER performance.
data transmission in all kinds of channel environments. The However, the performance is again more degraded around
BER performance resulting from the proposed channel es- 10−4 at all speeds than the results under TU situations.
timation algorithm in 6-path TU channel conditions with Maybe this case is a good reference for investigating the
1/4-PDR at different mobile speed is around over the range limitation of the proposed channel estimation algorithm.
of 10−4 ∼ 10−6 BER level. The results displayed in Fig. 6 For the proposed channel estimation algorithm adopting
are still very good. orthogonal comb-type pilot assignments, STBC-based wire-
Another comparison between Fig. 5 and Fig. 6 is illus- less 2ISO-OFDM transceivers could be well handled in both
trated. Under the same 1/4-PDR, BER performance in 4- 4-path RA and 6-path TU mobile wireless channel environ-
path RA and 6-path TU environments is compared as fol- ments to achieve superior BER performance. The appropri-
lows: Due to the multipath effect of TU is severer than that ate number of pilot symbols for COST 207 RA, TU and BU
of RA, the BER levels under RA channel conditions are all is suggested to be 32, 256 and 512, can the equivalent per-
expected better than that under TU cases at the same mo- centage of transmission data rate corresponding to the three
bile velocity. Especially, the difference is so obvious while scenarios can achieve 96.875%, 75% and 50%, respectively.
the speed is under 40 km/h, on the contrary, the BER levels The realization of PSACE techniques for MIMO-configured
in RA and TU cases are both very close to 10−4 while the schemes has been well modified as well as the simulation re-
speed is increased to 80 km/h. sults have demonstrated that BER performance can be dra-
More frequency-selective fading channel environments as matically improved by STBC-based wireless 2ISO-OFDM
6-path BU are presented for the examination of the proposed transmission systems with an acceptable cost.
0
6path−TU fading channel, PDR = 1/4 multimedia communications, Artech House, Boston,
10
v = 80 km/h 2000.
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