In electronics
and telecommunications, modulation is the
process of varying one or more properties of a high-frequency periodic waveform,
called the carrier signal, with a modulating signal
which typically contains information to be transmitted. This is done in a
similar fashion to a musician modulating a tone (a periodic waveform) from a
musical instrument by varying its volume, timing and pitch.
The three key parameters of a periodic waveform are its amplitude
("volume"), its phase
("timing") and its frequency ("pitch"). Any of these properties can be
modified in accordance with a low frequency signal to obtain the modulated
signal. Typically a high-frequency sinusoid
waveform is used as carrier signal, but a square wave pulse train
may also be used.
In telecommunications, modulation is the process
of conveying a message signal, for example a digital bit stream or an analog
audio signal, inside another signal that can be physically transmitted.
Modulation of a sine waveform is used to transform a baseband
message signal into a passband signal, for example low-frequency audio signal into a
radio-frequency signal (RF signal). In radio communications, cable TV systems
or the public switched telephone network
for instance, electrical signals can only be transferred over a limited
passband frequency spectrum, with specific (non-zero) lower and upper cutoff
frequencies. Modulating a sine-wave carrier makes it possible to keep the
frequency content of the transferred signal as close as possible to the centre
frequency (typically the carrier frequency) of the passband.
A device that
performs modulation is known as a modulator and a device that performs the
inverse operation of modulation is known as a demodulator
(sometimes detector or demod). A device that can do both
operations is a modem
(from "modulator–demodulator").
The aim of digital
modulation is to transfer a digital bit stream over an analog bandpass
channel, for example over the public switched telephone network
(where a bandpass filter limits the frequency range to
between 300 and 3400 Hz), or over a limited radio frequency band.
The aim of analog
modulation is to transfer an analog
baseband
(or lowpass)
signal, for example an audio signal or TV signal, over an analog bandpass
channel at a different frequency, for
example over a limited radio frequency band or a cable TV network channel.
Analog and
digital modulation facilitate frequency division multiplexing
(FDM), where several low pass information signals are transferred
simultaneously over the same shared physical medium, using separate passband
channels (several different carrier frequencies).
The aim of digital
baseband modulation methods, also known as line coding,
is to transfer a digital bit stream over a baseband
channel, typically a non-filtered copper wire such as a serial bus
or a wired local area network.
The aim of pulse
modulation methods is to transfer a narrowband
analog signal, for example a phone call over a wideband
baseband channel or, in some of the schemes, as a bit stream over another digital transmission system.
In music
synthesizers, modulation may be used to synthesise waveforms with an extensive
overtone spectrum using a small number of oscillators. In this case the carrier
frequency is typically in the same order or much lower than the modulating
waveform. See for example frequency modulation synthesis
or ring modulation synthesis.
In analog
modulation, the modulation is applied continuously in response to the analog
information signal. Common analog modulation techniques are:[1]
- Amplitude modulation (AM) (here the amplitude of the carrier signal is varied in accordance to the instantaneous amplitude of the modulating signal)
- Double-sideband modulation (DSB)
- Double-sideband modulation with carrier (DSB-WC) (used on the AM radio broadcasting band)
- Double-sideband suppressed-carrier transmission (DSB-SC)
- Double-sideband reduced carrier transmission (DSB-RC)
- Single-sideband modulation (SSB, or SSB-AM)
- Vestigial sideband modulation (VSB, or VSB-AM)
- Quadrature amplitude modulation (QAM)
- Angle modulation, which is approximately constant envelope
- Frequency modulation (FM) (here the frequency of the carrier signal is varied in accordance to the instantaneous amplitude of the modulating signal)
- Phase modulation (PM) (here the phase shift of the carrier signal is varied in accordance to the instantaneous amplitude of the modulating signal)
In digital
modulation, an analog carrier signal is modulated by a discrete signal. Digital
modulation methods can be considered as digital-to-analog conversion, and the
corresponding demodulation or detection as analog-to-digital
conversion. The changes in the carrier signal are chosen from a finite number
of M alternative symbols (the modulation alphabet).
A simple
example: A telephone
line is designed for transferring audible sounds, for example tones, and not
digital bits (zeros and ones). Computers may however communicate over a
telephone line by means of modems, which are representing the digital bits by
tones, called symbols. If there are four alternative symbols (corresponding to
a musical instrument that can generate four different tones, one at a time),
the first symbol may represent the bit sequence 00, the second 01, the third 10
and the fourth 11. If the modem plays a melody consisting of 1000 tones per
second, the symbol rate is 1000 symbols/second, or baud. Since each tone
(i.e., symbol) represents a message consisting of two digital bits in this
example, the bit rate
is twice the symbol rate, i.e. 2000 bits per second. This is similar to the
technique used by dialup modems as opposed to DSL modems.
According to
one definition of digital signal, the modulated signal is a digital
signal, and according to another definition, the modulation is a
form of digital-to-analog conversion. Most
textbooks would consider digital modulation schemes as a form of digital transmission, synonymous to data
transmission; very few would consider it as analog transmission.
- PSK (phase-shift keying): a finite number of phases are used.
- FSK (frequency-shift keying): a finite number of frequencies are used.
- ASK (amplitude-shift keying): a finite number of amplitudes are used.
- QAM (quadrature amplitude modulation): a finite number of at least two phases and at least two amplitudes are used.
In all of the
above methods, each of these phases, frequencies or amplitudes are assigned a
unique pattern of binary bits. Usually, each phase,
frequency or amplitude encodes an equal number of bits. This number of bits
comprises the symbol that is represented by the particular phase,
frequency or amplitude.
If the alphabet
consists of alternative symbols, each symbol
represents a message consisting of N bits. If the symbol rate
(also known as the baud rate)
is symbols/second (or baud), the data rate is bit/second.
In the case of
PSK, ASK or QAM, where the carrier frequency of the modulated signal is
constant, the modulation alphabet is often conveniently represented on a constellation diagram, showing the
amplitude of the I signal at the x-axis, and the amplitude of the Q signal at
the y-axis, for each symbol.
PSK and ASK,
and sometimes also FSK, are often generated and detected using the principle of
QAM. The I and Q signals can be combined into a complex-valued
signal I+jQ (where j is the imaginary
unit). The resulting so called equivalent lowpass signal or equivalent baseband signal is a
complex-valued representation of the real-valued
modulated physical signal (the so-called passband
signal or RF signal).
These are the
general steps used by the modulator to transmit data:
- Group the incoming data bits into codewords, one for each symbol that will be transmitted.
- Map the codewords to attributes, for example amplitudes of the I and Q signals (the equivalent low pass signal), or frequency or phase values.
- Adapt pulse shaping or some other filtering to limit the bandwidth and form the spectrum of the equivalent low pass signal, typically using digital signal processing.
- Perform digital to analog conversion (DAC) of the I and Q signals (since today all of the above is normally achieved using digital signal processing, DSP).
- Generate a high frequency sine carrier waveform, and perhaps also a cosine quadrature component. Carry out the modulation, for example by multiplying the sine and cosine waveform with the I and Q signals, resulting in the equivalent low pass signal being frequency shifted to the modulated passband signal or RF signal. Sometimes this is achieved using DSP technology, for example direct digital synthesis using a waveform table, instead of analog signal processing. In that case the above DAC step should be done after this step.
- Amplification and analog bandpass filtering to avoid harmonic distortion and periodic spectrum
At the receiver
side, the demodulator
typically performs:
- Bandpass filtering.
- Automatic gain control, AGC (to compensate for attenuation, for example fading).
- Frequency shifting of the RF signal to the equivalent baseband I and Q signals, or to an intermediate frequency (IF) signal, by multiplying the RF signal with a local oscillator sinewave and cosine wave frequency (see the superheterodyne receiver principle).
- Sampling and analog-to-digital conversion (ADC) (Sometimes before or instead of the above point, for example by means of undersampling).
- Equalization filtering, for example a matched filter, compensation for multipath propagation, time spreading, phase distortion and frequency selective fading, to avoid intersymbol interference and symbol distortion.
- Detection of the amplitudes of the I and Q signals, or the frequency or phase of the IF signal.
- Quantization of the amplitudes, frequencies or phases to the nearest allowed symbol values.
- Mapping of the quantized amplitudes, frequencies or phases to codewords (bit groups).
- Parallel-to-serial conversion of the codewords into a bit stream.
- Pass the resultant bit stream on for further processing such as removal of any error-correcting codes.
Non-coherent modulation
methods do not require a receiver reference clock signal that is phase synchronized with the sender carrier wave.
In this case, modulation symbols (rather than bits, characters, or data
packets) are asynchronously transferred. The opposite
is coherent modulation.
- Phase-shift keying (PSK):
- Binary PSK (BPSK), using M=2 symbols
- Quadrature PSK (QPSK), using M=4 symbols
- 8PSK, using M=8 symbols
- 16PSK, using M=16 symbols
- Differential PSK (DPSK)
- Differential QPSK (DQPSK)
- Offset QPSK (OQPSK)
- π/4–QPSK
- Frequency-shift keying (FSK):
- Audio frequency-shift keying (AFSK)
- Multi-frequency shift keying (M-ary FSK or MFSK)
- Dual-tone multi-frequency (DTMF)
- Amplitude-shift keying (ASK)
- On-off keying (OOK), the most common ASK form
- M-ary vestigial sideband modulation, for example 8VSB
- Quadrature amplitude modulation (QAM) - a combination of PSK and ASK:
- Polar modulation like QAM a combination of PSK and ASK.[citation needed]
- Continuous phase modulation (CPM) methods:
- Minimum-shift keying (MSK)
- Gaussian minimum-shift keying (GMSK)
- Continuous-phase frequency-shift keying (CPFSK)
- Orthogonal frequency-division multiplexing (OFDM) modulation:
- discrete multitone (DMT) - including adaptive modulation and bit-loading.
- Wavelet modulation
- Trellis coded modulation (TCM), also known as trellis modulation
- Spread-spectrum techniques:
- Direct-sequence spread spectrum (DSSS)
- Chirp spread spectrum (CSS) according to IEEE 802.15.4a CSS uses pseudo-stochastic coding
- Frequency-hopping spread spectrum (FHSS) applies a special scheme for channel release
MSK and GMSK are particular cases
of continuous phase modulation. Indeed, MSK is a particular case of the
sub-family of CPM known as continuous-phase frequency-shift
keying (CPFSK) which is defined by a rectangular frequency pulse
(i.e. a linearly increasing phase pulse) of one symbol-time duration (total
response signaling).
OFDM is based on the idea
of frequency-division multiplexing
(FDM), but the multiplexed streams are all parts of a single original stream.
The bit stream is split into several parallel data streams, each transferred
over its own sub-carrier using some conventional digital modulation scheme. The
modulated sub-carriers are summed to form an OFDM signal. This dividing and
recombining helps with handling channel impairments. OFDM is considered as a
modulation technique rather than a multiplex technique, since it transfers one
bit stream over one communication channel using one sequence of so-called OFDM
symbols. OFDM can be extended to multi-user channel access method in the orthogonal frequency-division
multiple access (OFDMA) and multi-carrier code division multiple
access (MC-CDMA) schemes, allowing several users to share the same
physical medium by giving different sub-carriers or spreading codes to different
users.
Of the two
kinds of RF power amplifier, switching amplifiers (Class D
amplifiers) cost less and use less battery power than linear
amplifiers of the same output power. However, they only work with
relatively constant-amplitude-modulation signals such as angle modulation (FSK
or PSK) and CDMA, but not with QAM and OFDM.
Nevertheless, even though switching amplifiers are completely unsuitable for
normal QAM constellations, often the QAM modulation principle are used to drive
switching amplifiers with these FM and other waveforms, and sometimes QAM demodulators
are used to receive the signals put out by these switching amplifiers.
The term digital
baseband modulation (or digital baseband transmission) is synonymous to line codes.
These are methods to transfer a digital bit stream over an analog baseband
channel (a.k.a. lowpass
channel) using a pulse train, i.e. a discrete number of signal levels, by
directly modulating the voltage or current on a cable. Common examples are unipolar,
non-return-to-zero (NRZ), Manchester
and alternate mark inversion (AMI) codings.[2]
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Pulse
modulation schemes aim at transferring a narrowband analog signal over an
analog baseband channel as a two-level signal by modulating a pulse wave.
Some pulse modulation schemes also allow the narrowband analog signal to be
transferred as a digital signal (i.e. as a quantized discrete-time signal) with a fixed bit
rate, which can be transferred over an underlying digital transmission system,
for example some line code. These are not modulation schemes in
the conventional sense since they are not channel
coding schemes, but should be considered as source coding
schemes, and in some cases analog-to-digital conversion techniques.
- Pulse-amplitude modulation (PAM)
- Pulse-width modulation (PWM)
- Pulse-position modulation (PPM)
- Pulse-code modulation (PCM)
- Differential PCM (DPCM)
- Adaptive DPCM (ADPCM)
- Delta modulation (DM or Δ-modulation)
- Delta-sigma modulation (∑Δ)
- Continuously variable slope delta modulation (CVSDM), also called Adaptive-delta modulation (ADM)
- Pulse-density modulation (PDM)
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