IEEE COMMUNICATIONS LETTERS, VOL. 18, NO.

3, MARCH 2014 483

Beamforming and Combining in
Hybrid Satellite-Terrestrial Cooperative Systems
Arti M.K., Student Member, IEEE, and Manav R. Bhatnagar, Senior Member, IEEE
AbstractIn this paper, we consider the transmission of signals
in a hybrid satellite-terrestrial cooperative system. In partic-
ular, we address the problem of beamforming and combining
based amplify-and-forward (AF) relaying in a hybrid satellite-
terrestrial cooperative system. In this set-up, a multiple antenna
based relay node forwards the received satellite signals to the
destination, by using a beamforming vector, and multiple antenna
based destination node uses maximal ratio combining. The
approximate average symbol error rate of the considered beam-
forming and combining based hybrid AF cooperative scheme
for M-ary phase shift keying constellation is derived; analytical
diversity order of the hybrid system is also obtained. Moreover,
diversity calculations for some specic antenna congurations
are shown for providing useful insight of the proposed scheme,
at high signal-to-noise ratio.
Index TermsAmplify-and-forward protocol, beamforming
and combining scheme, cooperative diversity, land mobile satel-
lite (LMS) channel, M-ary phase-shift keying (M-PSK).
I. INTRODUCTION
S
ATELLITE systems are useful for the applications like
mass broadcasting and navigation, because of the wide
coverage area. However, due to the rain, fog, poor angle
of inclination, non-availability of line-of-sight (LOS), and
low transmit power, the satellite coverage area is limited
by the masking effect between the satellite and a terrestrial
user [1]. In [1], [2], hybrid/integrated satellite-terrestrial co-
operative systems have been proposed, to avoid the masking
effect. Integrated satellite-terrestrial systems are studied in [3],
whereas hybrid systems for satellite based unlimited mobile
TV systems are discussed in [4]. In [5], [6], [7], [8], [9], [10],
[11], the hybrid satellite-terrestrial cooperative systems have
been studied. The multiple-input multiple-output (MIMO)
techniques are found useful for improving the performance of
satellite communication system [12]. Beamforming and com-
bining is a fundamental technique, for MIMO systems, which
provides full spatial diversity [13]. In addition, cooperative
MIMO relaying is useful for improving the performance of
wireless communication systems [14], [15], [16].
In this paper, we explore a novel amplify-and-forward
(AF) hybrid relay system, where the multiple antenna based
ground nodes (relay and destination) utilize the beamforming
and combining of the received satellite signals. In this set-
up, the source-relay links follow the Shadowed-Rician (SR)
land mobile satellite (LMS) model; and the relay-destination
links follow the Rayleigh fading. We derive the moment
generating function (MGF) for the hybrid link; by using this
Manuscript received December 12, 2013. The associate editor coordinating
the review of this letter and approving it for publication was A. Panagopoulos.
The authors are with the Department of Electrical Engineering, Indian
Institute of Technology - Delhi, Hauz Khas, New Delhi 110016, India (e-mail:
{arti.mk, manav}@ee.iitd.ac.in). M. Bhatnagar is the corresponding author.
Digital Object Identier 10.1109/LCOMM.2014.012214.132738
MGF, the approximate average symbol error rate (SER) of
the considered cooperative system is obtained. In addition,
we derive the analytical diversity order of the considered AF
based hybrid cooperative system. Some novel observations for
the diversity order and coding gain of the considered system
are pointed out, on the basis of the analytical results.
II. SYSTEM MODEL
A hybrid satellite-terrestrial cooperative system is consid-
ered, where a single antenna based satellite transmits data to
a destination node (containing N
d
antennas) at ground, with
the assistance of an AF protocol based relay node (containing
N
r
antennas) at ground. It is assumed that there is no direct
link between the satellite and the destination. The satellite
transmits its signals to the relay, and the relay amplies the
received signals and transmits them by using a beamforming
vector to the destination node; the destination uses maximal
ratio combining (MRC).
A. AF Protocol Based Beamforming and Combining Scheme
The signals received at the relay from the satellite will be
y
1
= h
1
s + n
1
, (1)
where s, with E
s
power, is the transmitted signal, h
1
(
Nr1
denotes the channel between the satellite and relay, and
n
1
(
Nr1
is the zero-mean additive white Gaussian noise
(AWGN) of the satellite-relay link with
2
variance. The relay
rst combines the received signal vector by using a combining
vector: (h
H
1
/ |h
1
|, as
r
1
=
(h
H
1
|h
1
|
y
1
= ( |h
1
| s +
(h
H
1
|h
1
|
n
1
, (2)
where ( is the scaling factor of the relay and chosen an accor-
dance to satisfy the power constraint at the relay. Then relay
uses beamforming vector u (
Nr1
before transmitting the
signal to the destination. The destination employs a combining
vector v (
N
d
1
; the data received at the destination, after
combining, is given by
y
2
= v
H
(H
2
ur
1
+ n
2
) , (3)
where H
2
(
N
d
Nr
represents the MIMO channel between
the relay and destination; and n
2
(
N
d
1
comprises the
complex-valued AWGN elements with zero mean and
2
variance. The beamforming vector at the relay is chosen as
u =
H
H
2
v
_
_
H
H
2
v
_
_
. (4)
The combining vector v is chosen as the eigenvector corre-
sponding to the maximum eigenvalue of H
2
H
H
2
. Therefore,
1089-7798/14$31.00 c 2014 IEEE
484 IEEE COMMUNICATIONS LETTERS, VOL. 18, NO. 3, MARCH 2014
the received signal at the destination can be expressed as
y
2
= (
_

max
|h
1
| s +
(

max
|h
1
|
h
H
1
n
1
+ v
H
n
2
, (5)
where
max
is the maximum eigenvalue of H
2
H
H
2
. In practice,
the information of the channels, h
1
and H
2
, can be generated
in the relay by using the training data transmitted by the
satellite and destination, respectively.
B. Channel Statistics
The satellite-relay link is modeled as SR fading channel.
An approximate probability density function (PDF) of |h
1
|
2
,
is given by [17]
f
|h
1|
2 (x) =
Nr
c

l=0
_
c
l
_

cl
_
x
dl1
(d l)

1
F
1
_
d; dl; ()x
_
+
x
dl
(d l + 1)

1
F
1
_
d + 1; d l + 1; ( )x
_
_
, (6)
where = 0.5(2bm/(2bm + ))
m
/b, = (0.5/b), =
0.5/(2b
2
m + b), is the average power of LOS com-
ponent, 2b is the average power of the multipath component,
0 m is the Nakagami parameter, c = (d N
r
)
+
,
= mN
r
d, d = max N
r
, mN
r
|, z| denotes the largest
integer not greater than z; (z)
+
indicates that if z 0, then use
z = 0; max , chooses greatest of the two positive integers;
() denotes the Gamma function [18], and
1
F
1
(; ; ) denotes
the conuent Hypergeometric function [18, Eq. (9.210.1)].
Since the MIMO channel H
2
follows the Rayleigh fading,
the PDF of
max
can be written as [19]
f
max
(y) =
min(Nr,N
d
)

p=1
exp(py)
(Nr+N
d
)p2p
2

q=|NrN
d
|
c
p,q
y
q
, (7)
where c
p,q
are coefcients which can be calculated by using
the method given in [19].
III. PERFORMANCE ANALYSIS
We will nd the average SER of the considered AF based
cooperative hybrid scheme, by following the standard MGF
based approach, in this section. The instantaneous received
signal-to-noise ratio (SNR) in the destination can be written,
from (5), as

c
=
|h
1
|
2

max
(C +
max
)
, (8)
where = E
s
/
2
denotes the average SNR and C = 1/(
2
.
A. Calculation of the MGF
It is difcult to calculate the MGF of the considered scheme
directly, therefore, we rst calculate the conditional MGF. The
conditional MGF of the cooperative hybrid link is given by
M
c|max
(s) =
_

0
e
x
smax
max+C
f
|h1|
2 (x)dx. (9)
From (6) and (9), we have
M
c|y
(s) =
Nr
c

l=0
_
c
l
_

cl
_

0
e
x
smax
max+C
_
x
dl1
(d l)

1
F
1
_
d; dl; ()x
_
+
x
dl
(d l + 1)

1
F
1
_
d + 1; d l + 1; ( )x
_
_
dx. (10)
By using [18, Eq. (7.621.4)] and [18, Eq. (9.121.1)] in (10),
it can be shown that
M
c|max
(s) =
Nr
c

l=0
_
c
l
_

cl
_
/
(dl)
(
max
)

_
1 + ( )/
1
(
max
)
_
d
+ /
(dl+1)
(
max
)

_
1 + ( )/
1
(
max
)
_
(d+1)
_
, (11)
where /(
max
) =
smax
max+C
. The MGF of
c
can be obtained
as
M
c
(s) =
_

0
M
c|y
(s)f
max
(y)dy. (12)
From (7), (11), (12), [18, Eq. (3.383.4)], and after ample
algebra, we get
M
c
(s) =
Nr
c

l=0
_
c
l
_

cl
(s )
l
(s + )
d
min(Nr,N
d
)

p=1

(Nr+N
d
)p2p
2

q=|NrN
d
|
c
p,q
_
dl

k1=0
_
d l
k
1
_
C
dlk1
(l + q + k
1
+ 1)
_
C( )
s +
_
l+q+k
1
d
2
e
pC()
2(s +)
p

l+q+k
1
d+2
2
Wdlqk
1
2
,
dlqk
1
1
2
_
pC( )
s +
_
+

s +
dl+1

k2=0
_
d l + 1
k
2
_
C
dlk2+1
(l + q + k
1
+ 1)
_
C( )
s +
_
l+q+k
1
d1
2
e
pC()
2(s +)
p

l+q+k
1
d+1
2
Wdlqk
1
1
2
,
dlqk
1
2
_
pC( )
s +
_
_
, (13)
where W
,
(x) is the Whittaker function [18, Eq. (9.220.4)].
B. Calculation of SER
The SER of the considered hybrid channels based AF
scheme for M-ary phase-shift keying (M-PSK) constellation
can be calculated, by using the relation [20]:
P
MPSK
=
1

_
M
0
M
c
_
g
MPSK
sin
2

_
d, (14)
where
M
= (M 1)/M and g
MPSK
is a modulation
dependent parameter, dened as g
MPSK
= sin
2
(/M).
ARTI M.K. and BHATNAGAR: BEAMFORMING AND COMBINING IN HYBRID SATELLITE-TERRESTRIAL COOPERATIVE SYSTEMS 485
Alternatively, the following approximation of (14) can be
used [21, Eq. (10)]:
P
MPSK
=
3

p=1
b
p
M
c
(a
p
) , (15)
where b
1
=
M
/(2) 1/6, b
2
= 1/4, b
3
=
M
/(2)
1/4, a
1
= g
MPSK
, a
2
= 4g
MPSK
/3, and a
3
=
g
MPSK
/sin
2
(
M
).
C. Diversity Order Calculation
At high SNR, the asymptotic MGF can be written by
substituting l = c, k
1
= k
2
= 0, and W
,
(x) =
e
x/2
x
+1/2
( k + 1/2, 1 + 2; x), where (a, b; z) is
conuent Hypergeometric function [18, Eq. (9.210.2)], in (13):
M
c
(s) =
Nr
min(Nr,N
d
)

p=1
(Nr+N
d
)p2p
2

q=|NrN
d
|
c
p,q
C
q+1

qNr
(c + q + 1)
_
1
s
_
q+1
_

_
c + q + 1,

b
1
;
pC( )
s
_
+
_
c + q + 1,

b
2
;
pC( )
s
_
_
, (16)
where

b
1
= q + 2 N
r
and

b
2
= q + 1 N
r
.
The conuent Hypergeometric function (a, b; z) can be
asymptotically approximated for z 1 (small z) as [22]
(a, b; z)
_

_
(b1)
(a)
z
1b
, if b > 1,

1
(a)
(ln z + (a)) , if b = 1,
(1b)
(1+ab)
, if b < 1,
(17)
where () is the digamma function [18] and a > 0. By
closely observing (16) and (17), it can be gured out that
there are nine different cases, depending upon the values of

b
1
and

b
2
, inuencing the diversity order of the system.
1)

b
1
< 1,

b
2
< 1: In this case, for very high values of ,
from (16) and (17), we can write
M
c
(s) =
Nr
min(Nr,N
d
)

p=1
(Nr+N
d
)p2p
2

qnz=|NrN
d
|
c
p,qnz
C
qnz+1

qnzNr
(c + q
nz
+ 1)
_
1
s
_
qnz+1
_

(N
r
q
nz
1)
(N
r
+ c)
+

(N
r
q
nz
)
(N
r
+ c + 1)
_
, (18)
where q
nz
are the those values of q which satisfy the con-
straints and provide non-zero coefcients to the power of .
It can be seen from (18), that the lowest degree of in this
case is min q
nz
+ 1 = q

nz
+ 1.
2)

b
1
> 1,

b
2
< 1: In this case, for very high values of ,
from (16) and (17), we can write
M
c
(s) =
Nr
min(Nr,N
d
)

p=1
(Nr+N
d
)p2p
2

qnz=|NrN
d
|
c
p,qnz
C
qnz+1

qnzNr
(c + q
nz
+ 1)
_
1
s
_
qnz+1
_

(q
nz
+ 1 N
r
)
(c + q + 1)

_
pC( )
s
_
Nrqnz1
+
(N
r
q
nz
)
(N
r
+ c + 1)
_
. (19)
TABLE I
THE LOWEST POWER OF SNR FOR DIFFERENT CASES
Cases Lowest power of SNR
_

b
1
> 1,

b
2
> 1
_
Nr
_

b
1
< 1,

b
2
< 1
_
,
_

b
1
=

b
2
= 1
_
q

nz
+ 1
_

b
1
= 1,

b
2
< 1
_
,
_

b
1
< 1,

b
2
= 1
_
_

b
1
> 1,

b
2
< 1
_
,
_

b
1
> 1,

b
2
= 1
_
min {Nr, q

nz
+ 1}
_

b
1
< 1,

b
2
> 1
_
,
_

b
1
= 1,

b
2
> 1
_
The lowest degree of is min N
r
, q

nz
+ 1, as seen from
(19).
By following the similar procedure, we can nd the lowest
power of for other cases, as listed in Table I. It can be seen
from Table I that the diversity order of the considered system
is min N
r
, min q

nz
+ 1.
Example 1: (Diversity order calculation for N
r
= N
d
= 2)
For this case, 1 p 2 and 0 q 2; hence, we can write
the asymptotic MGF, from (16), as
M
c
(s) = (J (1, 0) c
1,0
+J (2, 0) c
2,0
)
1
s
+J (1, 1) c
1,1
_
1
s
_
2
+J (1, 2) c
1,2
_
1
s
_
3
, (20)
where
J (p, q) =
Nr

qNr
C
q+1
(c + q+1)
_

_
c + q + 1,

b
1
;
pC( )
s
_
+
_
c + q + 1,

b
2
;
pC( )
s
_
_
. (21)
For N
r
= N
d
= 2 (which leads to c
1,0
= 2, c
1,1
= 2, c
1,2
=
1, c
2,0
= 2), the condition

b
1
< 1,

b
2
< 1 is achieved by
q = 0. However, at very high SNR, it can be shown by using
(17) that J (1, 0) = J (2, 0) and the coefcient corresponding
to 1/ (q = 0) in (20) is zero; therefore, this case does
not contribute into the diversity calculation for the considered
exemplary set-up. Whereas, for q = 1 and q = 2, which lead
to

b
1
= 1,

b
2
< 1 and

b
1
> 1,

b
2
= 1 conditions, respectively,
we get non-zero coefcients at very high SNR. Hence, it can
be seen from (20) that the diversity order, for this case is two,
which is veried by Table I.
Example 2: (Diversity order calculation for N
r
= 3, N
d
=
2) For this case, the coefcients c
p,q
s are: c
1,1
= 6, c
1,2
=
4; c
1,3
= 1; c
2,1
= 6; c
2,2
= 2. The asymptotic MGF for
this conguration will be
M
c
(s) = (J (1, 1) c
1,1
+J (2, 1) c
2,1
)
_
1
s
_
2
+ (J (1, 2)
c
1,2
+J (2, 2) c
2,2
)
_
1
s
_
3
+J (1, 3) c
1,3
_
1
s
_
4
. (22)
At very high SNR, the coefcient corresponding to 1/
2
will
be zero; hence, the diversity order will be three, in this case.
IV. NUMERICAL RESULTS AND CONCLUSIONS
The analytical and simulated results of the considered
hybrid scheme are plotted for QPSK, 8-PSK, and 16-PSK
constellations, and ( = 1, in Fig. 1. On the x-axis of Fig. 1,
SNR denotes . The source-relay LMS channel experiences
average shadowing (b = 0.126, m = 10.1, = 0.835) or
infrequent light shadowing (b = 0.158, m = 19.4, = 1.29).
486 IEEE COMMUNICATIONS LETTERS, VOL. 18, NO. 3, MARCH 2014
0 5 10 15 20 25 30
10
6
10
5
10
4
10
3
10
2
10
1
SNR [dB]
S
E
R
Simulation
Analysis (14), average shadowing
Analysis (14), infrequent light shadowing
Analysis (15), average shadowing
Analysis (15), infrequent light shadowing
QPSK
8PSK
16PSK
Fig. 1. SER versus SNR performance of the beamforming and combining
based hybrid satellite-terrestrial cooperative system with QPSK, 8-PSK, and
16-PSK constellations, Nr = N
d
= 2, average shadowing, and infrequent
light shadowing.
0 5 10 15 20 25 30 35 40 45
10
10
10
8
10
6
10
4
10
2
10
0
SNR [dB]
S
E
R

Ideal diversity=1
Analytical, N
r
=1, N
d
=2
Ideal diversity=2
Analytical, N
r
=2, N
d
=1
Asymptotic, N
r
=2, N
d
=1
Analytical, N
r
=2, N
d
=2
Analytical, N
r
=2, N
d
=3
Ideal diversity=3
Analytical, N
r
=3, N
d
=2
Fig. 2. Diversity performance of the beamforming and combining based
hybrid satellite-terrestrial cooperative system with QPSK constellation, Nr =
1, 2, 3, N
d
= 1, 2, 3, and frequent heavy shadowing.
The relay-destination link is taken as Rayleigh fading MIMO
channel; the analytical SER is plotted by using (13), (14),
and (15). It can be seen from Fig. 1 that the simulation
results are in good agreement with the proposed approximate
analytical SER results. Further, it can be seen from Fig. 1 that
for QPSK constellation, the proposed scheme offers an SNR
gain of approximately 3 dB at SER=10
4
over the infrequent
light shadowing, as compared to the average shadowing. In
Fig. 2, the analytical SER versus SNR plots are shown for
QPSK, N
r
= 1, 2, 3, N
d
= 1, 2, 3, and frequent heavy
shadowing (b = 0.063, m = 0.739, = 8.97 10
4
). It
can be seen from Fig. 2 that the high SNR decay of all plots
matches that of the ideal diversity plots. The diversity order
is one for N
r
= 1, N
d
= 2; two for N
r
= 2, N
d
= 1,
N
r
= 2, N
d
= 2, and N
r
= 2, N
d
= 3; and three for
N
r
= N
d
= 3, as seen from Fig. 2. The same observations
can also be analytically drawn from Subsection III-C. The
asymptotic SER for N
r
= 2, N
d
= 1 is plotted by using
(14) and (16), in Fig. 2. It can be seen from Fig. 2 that the
proposed asymptotic SER follows the analytical SER tightly
at high SNR values. Further, Fig. 2 demonstrates that by
xing the number of antennas at the relay and increasing the
antennas at the destination, the coding gain of the scheme can
be improved; but diversity of the system remains unaffected.
For example, N
r
= 2, N
d
= 2 and N
r
= 2, N
d
= 3 con-
gurations have approximately 2.5 dB and 3.5 dB SNR gain,
respectively, at SER=10
4
and no diversity gain as compared
to N
r
= 2, N
d
= 1 conguration, in Fig. 2. Furthermore, by
increasing the number of antennas at the relay, the diversity
gain of the considered system can be improved. All simulation
results are obtained for 10
7
channel realizations.
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