Chapter 1
Sampling and Reconstruction
Nguyen Thanh Tuan, Click
M.Eng.
to edit Master subtitle style
Department of Telecommunications (113B3)
Ho Chi Minh City University of Technology
Email:
[email protected] Content
Sampling
Sampling theorem
Spectrum of sampling signals
Anti-aliasing pre-filter
Ideal pre-filter
Practical pre-filter
Analog reconstruction
Ideal reconstructor
Practical reconstructor
Digital Signal Processing
Sampling and Reconstruction
1. Introduction
A typical signal processing system includes 3 stages:
The analog signal is digitalized by an A/D converter
The digitalized samples are processed by a digital signal processor.
The digital processor can be programmed to perform signal processing
operations such as filtering, spectrum estimation. Digital signal processor can be
a general purpose computer, DSP chip or other digital hardware.
The resulting output samples are converted back into analog by a
D/A converter.
Digital Signal Processing
Sampling and Reconstruction
2. Analog to digital conversion
Analog to digital (A/D) conversion is a three-step process.
x(t)
Sampler
t=nT
x(t)
x(nT)x(n) Quantizer xQ(n) Coder
A/D converter
x(n)
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11010
111 xQ(n)
110
101
100
011
010
001
000
Sampling and Reconstruction
3. Sampling
Sampling is to convert a continuous time signal into a discrete time
signal. The analog signal is periodically measured at every T seconds
x(n)x(nT)=x(t=nT), n=-2, -1, 0, 1, 2, 3
T: sampling interval or sampling period (second);
Fs=1/T: sampling rate or frequency (samples/second or Hz)
Digital Signal Processing
Sampling and Reconstruction
Example 1
The analog signal x(t)=2cos(2t) with t(s) is sampled at the rate Fs=4
Hz. Find the discrete-time signal x(n) ?
Solution:
x(n)x(nT)=x(n/Fs)=2cos(2n/Fs)=2cos(2n/4)=2cos(n/2)
n
x(n)
-2
Plot the signal
Digital Signal Processing
Sampling and Reconstruction
Example 2
Consider the two analog sinusoidal signals
7
1
x1 (t ) 2cos(2 t ), x2 (t ) 2cos(2 t ); t ( s)
8
8
These signals are sampled at the sampling frequency Fs=1 Hz.
Find the discrete-time signals ?
Solution:
1
71
7
) 2cos(2
n) 2cos( n)
Fs
81
4
1
2cos((2 ) n) 2cos( n)
4
4
1
11
1
x2 (n) x2 (nT ) x2 (n ) 2cos(2
n) 2cos( n)
Fs
81
4
x1 (n) x1 (nT ) x1 (n
Observation: x1(n)=x2(n) based on the discrete-time signals, we
cannot tell which of two signals are sampled ? These signals are
called alias
Digital Signal Processing
Sampling and Reconstruction
F2=1/8 Hz
F1=7/8 Hz
Fs=1 Hz
Fig: Illustration of aliasing
Digital Signal Processing
Sampling and Reconstruction
4. Aliasing of Sinusoids
In general, the sampling of a continuous-time sinusoidal signal
x(t ) A cos(2 F0t ) at a sampling rate Fs=1/T results in a
discrete-time signal x(n).
The sinusoids xk (t ) A cos(2 Fk t ) is sampled at Fs , resulting
in a discrete time signal xk(n).
If Fk=F0+kFs, k=0, 1, 2, ., then x(n)=xk(n) .
Proof: (in class)
Remarks: We can that the frequencies Fk=F0+kFs are
indistinguishable from the frequency F0 after sampling and hence
they are aliases of F0
Digital Signal Processing
Sampling and Reconstruction
5. Spectrum Replication
Let x(nT ) x (t ) x(t ) (t nT ) x(t )s(t ) where s(t )
n
(t nT )
s(t) is periodic, thus, its Fourier series are given by
s (t )
Se
j 2 Fs nt
where Sn
1
1
1
j 2 Fs nt
(
t
)
e
dt
(
t
)
dt
T T
T T
T
1 j 2 Fsnt
Thus, s(t ) e
T n
1
x (t ) x(t ) s(t ) x(t )e j 2 nf st
which results in
T n
1
Taking the Fourier transform of x (t ) yields X ( F ) X ( F nFs )
T n
Observation: The spectrum of discrete-time signal is a sum of the
original spectrum of analog signal and its periodic replication at the
interval Fs.
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Sampling and Reconstruction
Fs/2 Fmax
Fig: Spectrum replication caused by sampling
Fig: Typical badlimited spectrum
Fs/2 < Fmax
Fig: Aliasing caused by overlapping spectral replicas
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Sampling and Reconstruction
6. Sampling Theorem
For accurate representation of a signal x(t) by its time samples x(nT),
two conditions must be met:
1) The signal x(t) must be band-limited, i.e., its frequency spectrum must
be limited to Fmax .
Fig: Typical band-limited spectrum
2) The sampling rate Fs must be chosen at least twice the maximum
Fs 2 Fmax
frequency Fmax.
Fs=2Fmax is called Nyquist rate; Fs/2 is called Nyquist frequency;
[-Fs/2, Fs/2] is Nyquist interval.
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Sampling and Reconstruction
The values of Fmax and Fs depend on the application
Application
Fmax
Fs
Biomedical
1 KHz
2 KHz
Speech
4 KHz
8 KHz
Audio
20 KHz
40 KHz
Video
4 MHz
8 MHz
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Sampling and Reconstruction
7. Ideal analog reconstruction
Fig: Ideal reconstructor as a lowpass filter
An ideal reconstructor acts as a lowpass filter with cutoff frequency
equal to the Nyquist frequency Fs/2.
T
An ideal reconstructor (lowpass filter) H ( F )
0
Then
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F [ Fs / 2, Fs / 2]
otherwise
X a ( F ) X ( F )H ( F ) X ( F )
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Sampling and Reconstruction
Example 3
The analog signal x(t)=cos(20t) is sampled at the sampling
frequency Fs=40 Hz.
a) Plot the spectrum of signal x(t) ?
b) Find the discrete time signal x(n) ?
c) Plot the spectrum of signal x(n) ?
d) The signal x(n) is an input of the ideal reconstructor, find the
reconstructed signal xa(t) ?
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Sampling and Reconstruction
Example 4
The analog signal x(t)=cos(100t) is sampled at the sampling
frequency Fs=40 Hz.
a) Plot the spectrum of signal x(t) ?
b) Find the discrete time signal x(n) ?
c) Plot the spectrum of signal x(n) ?
d) The signal x(n) is an input of the ideal reconstructor, find the
reconstructed signal xa(t) ?
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Sampling and Reconstruction
Remarks: xa(t) contains only the frequency components that lie in the
Nyquist interval (NI) [-Fs/2, Fs/2].
sampling at Fs
ideal reconstructor
x(t), F0 NI ------------------> x(n) ----------------------> xa(t), Fa=F0
sampling at Fs
ideal reconstructor
xk(t), Fk=F0+kFs-----------------> x(n) ---------------------> xa(t), Fa=F0
The frequency Fa of reconstructed signal xa(t) is obtained by adding
to or substracting from F0 (Fk) enough multiples of Fs until it lies
within the Nyquist interval [-Fs/2, Fs/2]. That is
Fa F mod( Fs )
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Sampling and Reconstruction
Example 5
The analog signal x(t)=10sin(4t)+6sin(16t) is sampled at the rate 20
Hz. Find the reconstructed signal xa(t) ?
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Sampling and Reconstruction
Example 6
Let x(t) be the sum of sinusoidal signals
x(t)=4+3cos(t)+2cos(2t)+cos(3t) where t is in milliseconds.
a) Determine the minimum sampling rate that will not cause any
aliasing effects ?
b) To observe aliasing effects, suppose this signal is sampled at half its
Nyquist rate. Determine the signal xa(t) that would be aliased with
x(t) ? Plot the spectrum of signal x(n) for this sampling rate?
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Sampling and Reconstruction
Example 7
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Sampling and Reconstruction
8. Ideal antialiasing prefilter
The signals in practice may not band-limited, thus they must be
filtered by a lowpass filter
Fig: Ideal antialiasing prefilter
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Sampling and Reconstruction
9. Practical antialiasing prefilter
A lowpass filter: [-Fpass, Fpass] is the frequency range of interest for
the application (Fmax=Fpass)
The Nyquist frequency Fs/2 is in the middle of transition region.
The stopband frequency Fstop and the minimum stopband
attenuation Astop dB must be chosen appropriately to minimize the
aliasing effects.
Fs Fpass Fstop
Fig: Practical antialiasing lowpass prefilter
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Sampling and Reconstruction
The attenuation of the filter in decibels is defined as
A( F ) 20log10
H (F )
(dB)
H ( F0 )
where f0 is a convenient reference frequency, typically taken to be at
DC for a lowpass filter.
10 =A(10F)-A(F) (dB/decade): the increase in attenuation when F is
changed by a factor of ten.
2 =A(2F)-A(F) (dB/octave): the increase in attenuation when F is
changed by a factor of two.
Analog filter with order N, |H(F)|~1/FN for large F, thus 10 =20N
(dB/decade) and 10 =6N (dB/octave)
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Sampling and Reconstruction
Example 6
A sound wave has the form
x(t ) 2 A cos(10 t ) 2 B cos(30 t ) 2C cos(50 t )
2 D cos(60 t ) 2 E cos(90 t ) 2 F cos(125 t )
where t is in milliseconds. What is the frequency content of this
signal ? Which parts of it are audible and why ?
This signal is prefilter by an anlog prefilter H(f). Then, the output y(t)
of the prefilter is sampled at a rate of 40KHz and immediately
reconstructed by an ideal analog reconstructor, resulting into the final
analog output ya(t), as shown below:
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Sampling and Reconstruction
Example 7
Determine the output signal y(t) and ya(t) in the following cases:
a)When there is no prefilter, that is, H(F)=1 for all F.
b)When H(F) is the ideal prefilter with cutoff Fs/2=20 KHz.
c)When H(F) is a practical prefilter with specifications as shown
below:
The filters phase response is assumed to be ignored in this example.
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Sampling and Reconstruction
10. Practical analog reconstructors
sin( Fs t)
The ideal reconstructor has the impulse response: h(t )
which is not realizable since its impulse response is not casual Fs t
It is practical to use a
staircase reconstructor
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Sampling and Reconstruction
Fig: Frequency response of staircase reconstructor
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Sampling and Reconstruction
11. Anti-image postfilter
An analog lowpass postfilter whose cutoff is Nyquist frequency Fs/2
is used to remove the surviving spectral replicas.
Fig: Analog anti-image postfilter
Fig: Spectrum after postfilter
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Sampling and Reconstruction
Review
Hot ng ca b ly mu l tng?
Hin tng chng ln?
Tnh cht lp ph?
Pht biu nh l ly mu?
Hot ng ca b khi phc l tng?
Ti sao phi dng tin lc/hu lc?
Hot ng ca b tin lc l tng/thc t?
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Sampling and Reconstruction
Homework 1
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Sampling and Reconstruction
Homework 2
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Sampling and Reconstruction
Homework 3
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Sampling and Reconstruction
Homework 3
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Sampling and Reconstruction
Homework 4
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Sampling and Reconstruction
Homework 5
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Homework 6
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Sampling and Reconstruction
Homework 7
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Sampling and Reconstruction
Homework 8
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Sampling and Reconstruction
Homework 9
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Sampling and Reconstruction
Homework 10
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Sampling and Reconstruction
Homework 11
Cho tn hiu ng vo tng t x(t) = 3cos103t 4sin104t (t: s) i qua
h thng ly mu v khi phc l tng vi tn s ly mu Fs = 8 KHz.
a) Vit biu thc ca tn hiu sau ly mu x[n]? Xc nh gi tr mu
x[n=2] ca tn hiu sau ly mu.
b) C hay khng 1 tn s ly mu khc (Fsb 8 KHz) cho cng kt qu
tn hiu sau ly mu x[n]? Nu khng, hy chng minh. Nu c, hy
ch ra 1 tn s ly mu khc .
c) V ph bin ca tn hiu sau ly mu trong phm vi tn s t 0 n
10 KHz.
d) Xc nh biu thc ca tn hiu sau khi phc.
e) Xc nh biu thc ca tn hiu sau khi phc trong trng hp dng
thm b tin lc thng thp thc t c bin phng trong tm [-4 4]
KHz v suy gim vi tc -1@0dB/decade bn ngoi di thng.
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Homework 12
Cho tn hiu ng vo tng t x(t) = 2 4sin6t + 8cos10t (t: s)
i qua h thng ly mu v khi phc l tng vi tn s ly mu
la chn Fs = 7,@ KHz.
a) V ph bin ca tn hiu ng vo x(t).
b) V ph bin ca mt tn hiu chng ln (aliased signal) vi
x(t).
c) V ph bin ca tn hiu sau ly mu trong phm vi tn s t
0 n 10 KHz.
d) Tm gi tr mu x[n=2] ca tn hiu sau ly mu.
e) Xc nh biu thc (theo thi gian) ca tn hiu sau khi phc.
f) Tm iu kin ca tn s ly mu khi phc ng tn hiu ng
vo x(t).
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Homework 13
Cho tn hiu ng vo tng t x(t) = 14sin23t + 3sin14t (t: ms) i qua
h thng ly mu v khi phc l tng vi tn s ly mu Fs = 8 KHz.
a) Tm gi tr mu x[n=4] ca tn hiu sau ly mu?
b) Xc nh biu thc ca 1 tn hiu chng ln (aliased signal) vi tn
hiu ban u x(t)?
c) V ph bin ca tn hiu sau ly mu trong phm vi tn s t 0 n
8 KHz?
d) Xc nh biu thc ca tn hiu sau khi phc?
e) Xc nh biu thc ca tn hiu sau khi phc trong trng hp dng
thm b tin lc thng thp thc t c bin phng trong tm 4 KHz
v suy gim vi tc -4@dB/decade bn ngoi di thng?
f) Xc nh 1 tp gi tr thch hp (A, B, FA FB) ca tn hiu ng vo
x(t) = AsinFAt + BsinFBt
(t: ms) tn hiu sau khi phc (khi
khng dng thm b tin lc) y(t) = 2sin2t (t: ms)?
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Sampling and Reconstruction
Homework 14
Cho tn hiu ng vo tng t x(t) = 1 2cos6t + 3sin14t (t: ms) i qua h
thng ly mu v khi phc l tng vi tn s ly mu Fs = 8 KHz.
a) Tm gi tr mu x[n=2] ca tn hiu sau ly mu?
b) Xc nh biu thc (theo thi gian) ca 1 tn hiu chng ln (aliased signal) vi
tn hiu ban u x(t)?
c) V ph bin ca tn hiu sau ly mu trong phm vi tn s t 0 n 8 KHz?
d) Xc nh biu thc (theo thi gian) ca tn hiu sau khi phc?
e) Xc nh biu thc (theo thi gian) ca tn hiu sau khi phc trong trng hp
dng thm b tin lc thng thp thc t c bin phng trong tm 4 KHz v
suy gim vi tc -6@dB/decade bn ngoi di thng?
f) Tm iu kin ca chu k ly mu Ts sao cho tn hiu sau khi phc (khi khng
dng thm b tin lc) ging tn hiu ban u x(t)?
g) Tm tn s ly mu Fs ln nht c th sao cho tn hiu sau khi phc (khi khng
dng thm b tin lc) l tn hiu mt chiu khng i. Xc nh gi tr mt
chiu khng i ny?
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Homework 15
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