文章目录
《Josh 的复习总结之数字信号处理》系列文章目录:
Part 1——离散时间信号和系统分析基础
👉 Part 2——离散傅里叶级数 DFS
Part 3——离散傅里叶变换 DFT
Part 4——快速傅里叶变换 FFT
Part 5——部分 FFT 蝶形图
Part 6——数字滤波器的基本结构
Part 7——数字滤波器设计
1. 傅里叶变换的几种形式
1.1 非周期连续时间信号的傅里叶变换
非周期连续时间信号的傅里叶变换(连续时间傅里叶变换,Continuous-Time Fourier Transform, CTFT)的形式为:
X
a
(
j
Ω
)
=
∫
−
∞
∞
x
a
(
t
)
e
−
j
Ω
t
d
t
X_a\left(j\Omega\right)=\int_{-\infty}^{\infty}{x_a\left(t\right)e^{-j\Omega t}\mathrm{d}t}
Xa(jΩ)=∫−∞∞xa(t)e−jΩtdt
x
a
(
t
)
=
1
2
π
∫
−
∞
∞
X
a
(
j
Ω
)
e
j
Ω
t
d
Ω
x_a\left(t\right)=\frac{1}{2\pi}\int_{-\infty}^{\infty}{X_a\left(j\Omega\right)e^{j\Omega t}\mathrm{d}\Omega}
xa(t)=2π1∫−∞∞Xa(jΩ)ejΩtdΩ
1.2 周期连续时间信号的傅里叶变换
周期连续时间信号的傅里叶变换(连续傅里叶级数,Continous Fourier Series, CFS)的形式为:
X
(
m
Ω
)
=
1
t
p
∫
−
t
p
2
t
p
2
x
a
(
t
)
e
−
j
m
Ω
t
d
t
X\left(m\Omega\right)=\frac{1}{t_p}\int_{-\frac{t_p}{2}}^{\frac{t_p}{2}}{x_a\left(t\right)e^{-jm\Omega t}\mathrm{d}t}
X(mΩ)=tp1∫−2tp2tpxa(t)e−jmΩtdt
x
a
(
t
)
=
∑
m
=
−
∞
∞
X
(
m
Ω
)
e
j
m
Ω
t
x_a\left(t\right)=\sum_{m=-\infty}^{\infty}{X\left(m\Omega\right)e^{jm\Omega t}}
xa(t)=m=−∞∑∞X(mΩ)ejmΩt其中
t
p
t_p
tp 为信号的周期,频域相邻谱线间角频率增量
Ω
=
2
π
t
p
\Omega=\dfrac{2\pi}{t_p}
Ω=tp2π。
1.3 非周期离散时间信号的傅里叶变换
非周期离散时间信号的傅里叶变换(离散时间傅里叶变换,Discrete-Time Fourier Transform, DTFT)的形式为:
X
(
e
j
ω
)
=
∑
n
=
−
∞
∞
x
(
n
)
e
−
j
ω
n
X\left(e^{j\omega}\right)=\sum_{n=-\infty}^{\infty}{x\left(n\right)e^{-j\omega n}}
X(ejω)=n=−∞∑∞x(n)e−jωn
x
(
n
)
=
1
2
π
∫
−
π
π
X
(
e
j
ω
)
e
j
ω
n
d
ω
x\left(n\right)=\frac{1}{2\pi}\int_{-\pi}^{\pi}{X\left(e^{j\omega}\right)e^{j\omega n}\mathrm{d}\omega}
x(n)=2π1∫−ππX(ejω)ejωndω取样频率
f
s
=
1
T
f_s=\dfrac{1}{T}
fs=T1,取样角频率
Ω
s
=
2
π
T
\Omega_s=\dfrac{2\pi}{T}
Ωs=T2π,取样数字频率
ω
s
=
2
π
\omega_s=2\pi
ωs=2π。
1.4 周期离散时间信号的傅里叶变换
周期离散时间信号的傅里叶变换(离散傅里叶级数,Discrete Fourier Series, DFS)的形式为:
X
~
(
k
)
=
X
~
(
e
j
ω
)
∣
ω
=
k
2
π
N
=
∑
n
=
0
N
−
1
x
~
(
n
)
e
−
j
2
π
N
k
n
=
∑
n
=
0
N
−
1
x
~
(
n
)
W
N
k
n
\widetilde{X}\left(k\right)=\left.\widetilde{X}\left(e^{j\omega}\right)\right|_{\omega=k\frac{2\pi}{N}}=\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)e^{-j\frac{2\pi}{N}kn}}=\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)W_N^{kn}}
X
(k)=X
(ejω)∣∣∣ω=kN2π=n=0∑N−1x
(n)e−jN2πkn=n=0∑N−1x
(n)WNkn
x
~
(
n
)
=
1
N
∑
k
=
0
N
−
1
X
~
(
k
)
e
j
2
π
N
k
n
=
1
N
∑
k
=
0
N
−
1
X
~
(
k
)
W
N
−
k
n
\widetilde{x}\left(n\right)=\frac{1}{N}\sum_{k=0}^{N-1}{\widetilde{X}\left(k\right)e^{j\frac{2\pi}{N}kn}}=\frac{1}{N}\sum_{k=0}^{N-1}{\widetilde{X}\left(k\right)W_N^{-kn}}
x
(n)=N1k=0∑N−1X
(k)ejN2πkn=N1k=0∑N−1X
(k)WN−kn其中
N
N
N 为一个周期内的点数,时域相邻谱线间隔为
T
T
T ,频域相邻谱线间隔为
1
N
T
\dfrac{1}{NT}
NT1,以数字频率表征时为
2
π
N
\dfrac{2\pi}{N}
N2π。
由以上,在一个域中对函数进行取样,两取样点间增量的倒数,必是另一个域中的周期。
2. 离散傅里叶级数(DFS)的推导
2.1 正变换
令
x
(
n
)
x\left(n\right)
x(n) 为
N
N
N 点长的离散序列,则其 DTFT(上标“~”用来表征周期性)
X
~
(
e
j
ω
)
=
∑
n
=
−
∞
∞
x
(
n
)
e
−
j
ω
n
=
∑
n
=
0
N
−
1
x
(
n
)
e
−
j
ω
n
\widetilde{X}\left(e^{j\omega}\right)=\sum_{n=-\infty}^{\infty}{x\left(n\right)e^{-j\omega n}}=\sum_{n=0}^{N-1}{x\left(n\right)e^{-j\omega n}}
X
(ejω)=n=−∞∑∞x(n)e−jωn=n=0∑N−1x(n)e−jωn对
X
~
(
e
j
ω
)
\widetilde{X}\left(e^{j\omega}\right)
X
(ejω) 取样,使其称为周期离散频率函数,由此时域序列
x
(
n
)
x\left(n\right)
x(n) 周期化为
x
~
(
n
)
\widetilde{x}\left(n\right)
x
(n),令其谱线间隔为
T
T
T,则时域序列的周期为
N
T
NT
NT,所以对频谱取样的谱间距为
1
N
T
\dfrac{1}{NT}
NT1,以数字频率表征时,谱间距
ω
I
=
2
π
N
\omega_\mathrm{I}=\frac{2\pi}{N}
ωI=N2π因此,以数字频率
ω
\omega
ω 为变量的
X
(
e
j
ω
)
X\left(e^{j\omega}\right)
X(ejω) 被离散化时,其变量
ω
\omega
ω 变为
ω
=
k
ω
I
=
k
2
π
N
\omega=k\omega_\mathrm{I}=k\frac{2\pi}{N}
ω=kωI=kN2π因此离散周期序列
x
~
(
n
)
\widetilde{x}\left(n\right)
x
(n) 的傅里叶级数可写为
X
~
(
k
)
=
X
~
(
e
j
ω
)
∣
ω
=
k
2
π
N
=
∑
n
=
0
N
−
1
x
~
(
n
)
e
−
j
2
π
N
k
n
=
∑
n
=
0
N
−
1
x
~
(
n
)
W
N
k
n
\widetilde{X}\left(k\right)=\left.\widetilde{X}\left(e^{j\omega}\right)\right|_{\omega=k\frac{2\pi}{N}}=\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)e^{-j\frac{2\pi}{N}kn}}=\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)W_N^{kn}}
X
(k)=X
(ejω)∣∣∣ω=kN2π=n=0∑N−1x
(n)e−jN2πkn=n=0∑N−1x
(n)WNkn并将数字域频率用
k
k
k 简化表示。且
X
~
(
k
+
N
)
=
∑
n
=
0
N
−
1
x
~
(
n
)
e
−
j
2
π
N
(
k
+
N
)
n
=
∑
n
=
0
N
−
1
x
~
(
n
)
e
−
j
2
π
n
e
−
j
2
π
N
k
n
=
∑
n
=
0
N
−
1
x
~
(
n
)
e
−
j
2
π
N
k
n
=
X
~
(
k
)
\widetilde{X}\left(k+N\right)=\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)e^{-j\frac{2\pi}{N}\left(k+N\right)n}}=\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)e^{-j2\pi n}e^{-j\frac{2\pi}{N}kn}=}\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)e^{-j\frac{2\pi}{N}kn}=}\widetilde{X}\left(k\right)
X
(k+N)=n=0∑N−1x
(n)e−jN2π(k+N)n=n=0∑N−1x
(n)e−j2πne−jN2πkn=n=0∑N−1x
(n)e−jN2πkn=X
(k)即
X
~
(
k
)
\widetilde{X}\left(k\right)
X
(k) 是以
N
N
N 为周期的周期函数。
2.2 逆变换
将正变换两边乘以
e
j
2
π
N
k
r
e^{j\frac{2\pi}{N}kr}
ejN2πkr,并在一个周期内求和,有
∑
k
=
0
N
−
1
X
~
(
k
)
e
j
2
π
N
k
r
=
∑
k
=
0
N
−
1
(
∑
n
=
0
N
−
1
x
~
(
n
)
e
−
j
2
π
N
k
n
)
e
j
2
π
N
k
r
=
N
[
∑
n
=
0
N
−
1
x
~
(
n
)
(
1
N
∑
k
=
0
N
−
1
e
j
2
π
N
k
(
r
−
n
)
)
]
\sum_{k=0}^{N-1}{\widetilde{X}\left(k\right)e^{j\frac{2\pi}{N}kr}}=\sum_{k=0}^{N-1}{\left(\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)e^{-j\frac{2\pi}{N}kn}}\right)e^{j\frac{2\pi}{N}kr}}=N\left[\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)\left(\frac{1}{N}\sum_{k=0}^{N-1}e^{j\frac{2\pi}{N}k\left(r-n\right)}\right)}\right]
k=0∑N−1X
(k)ejN2πkr=k=0∑N−1(n=0∑N−1x
(n)e−jN2πkn)ejN2πkr=N[n=0∑N−1x
(n)(N1k=0∑N−1ejN2πk(r−n))]由正交定理
1
N
∑
k
=
0
N
−
1
e
j
2
π
N
k
(
r
−
n
)
=
{
1
,
r
=
n
0
,
r
≠
n
\frac{1}{N}\sum_{k=0}^{N-1}e^{j\frac{2\pi}{N}k\left(r-n\right)}= \begin{aligned} \begin{cases} 1,&r=n\\ 0,&r≠n \end{cases} \end{aligned}
N1k=0∑N−1ejN2πk(r−n)={1,0,r=nr=n则
∑
k
=
0
N
−
1
X
~
(
k
)
e
j
2
π
N
k
r
=
N
[
∑
n
=
0
N
−
1
x
~
(
n
)
]
∣
n
=
r
=
N
x
~
(
r
)
\sum_{k=0}^{N-1}{\widetilde{X}\left(k\right)e^{j\frac{2\pi}{N}kr}}=N\left.\left[\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)}\right]\right|_{n=r}=N\widetilde{x}\left(r\right)
k=0∑N−1X
(k)ejN2πkr=N[n=0∑N−1x
(n)]∣∣∣∣∣n=r=Nx
(r)可得逆离散傅里叶变换
x
~
(
n
)
=
1
N
∑
k
=
0
N
−
1
X
~
(
k
)
e
j
2
π
N
k
n
=
1
N
∑
k
=
0
N
−
1
X
~
(
k
)
W
N
−
k
n
\widetilde{x}\left(n\right)=\frac{1}{N}\sum_{k=0}^{N-1}{\widetilde{X}\left(k\right)e^{j\frac{2\pi}{N}kn}}=\frac{1}{N}\sum_{k=0}^{N-1}{\widetilde{X}\left(k\right)W_N^{-kn}}
x
(n)=N1k=0∑N−1X
(k)ejN2πkn=N1k=0∑N−1X
(k)WN−kn且
x
~
(
n
+
m
N
)
=
1
N
∑
k
=
0
N
−
1
X
~
(
k
)
e
j
2
π
N
k
(
n
+
m
N
)
=
1
N
∑
k
=
0
N
−
1
X
~
(
k
)
e
j
2
π
N
k
n
e
j
2
π
k
m
=
x
~
(
n
)
\widetilde{x}\left(n+mN\right)=\frac{1}{N}\sum_{k=0}^{N-1}{\widetilde{X}\left(k\right)e^{j\frac{2\pi}{N}k\left(n+mN\right)}}=\frac{1}{N}\sum_{k=0}^{N-1}{\widetilde{X}\left(k\right)e^{j\frac{2\pi}{N}kn}e^{j2\pi km}}=\widetilde{x}\left(n\right)
x
(n+mN)=N1k=0∑N−1X
(k)ejN2πk(n+mN)=N1k=0∑N−1X
(k)ejN2πknej2πkm=x
(n)即
x
~
(
n
)
\widetilde{x}\left(n\right)
x
(n) 是以
N
N
N 为周期的周期函数。
3. 离散傅里叶级数(DFS)的性质
3.1 线性性质
D F S [ a x ~ 1 ( n ) + b x ~ 2 ( n ) ] = a X ~ 1 ( k ) + b X ~ 2 ( k ) \mathrm{DFS}\left[a{\widetilde{x}}_1\left(n\right)+{b\widetilde{x}}_2\left(n\right)\right]=a{\widetilde{X}}_1\left(k\right)+b{\widetilde{X}}_2\left(k\right) DFS[ax 1(n)+bx 2(n)]=aX 1(k)+bX 2(k)
3.2 时移性质
D
F
S
[
x
~
(
n
+
m
)
]
=
W
N
−
m
k
X
~
(
k
)
\mathrm{DFS}\left[\widetilde{x}\left(n+m\right)\right]=W_N^{-mk}\widetilde{X}\left(k\right)
DFS[x
(n+m)]=WN−mkX
(k)证明:
D
F
S
[
x
~
(
n
+
m
)
]
=
∑
n
=
0
N
−
1
x
~
(
n
+
m
)
W
N
n
k
=
∑
n
=
m
N
−
1
+
m
x
~
(
n
)
W
N
(
n
−
m
)
k
=
∑
n
=
m
N
−
1
+
m
x
~
(
n
)
W
N
n
k
W
N
−
m
k
=
利
用
x
~
(
n
)
和
W
N
n
k
的
周
期
性
(
∑
n
=
0
N
−
1
x
~
(
n
)
W
N
n
k
)
W
N
−
m
k
=
W
N
−
m
k
X
~
(
k
)
\begin{aligned} \mathrm{DFS}\left[\widetilde{x}\left(n+m\right)\right]&=\sum_{n=0}^{N-1}{\widetilde{x}\left(n+m\right)W_N^{nk}}=\sum_{n=m}^{N-1+m}{\widetilde{x}\left(n\right)W_N^{\left(n-m\right)k}}=\sum_{n=m}^{N-1+m}{\widetilde{x}\left(n\right)W_N^{nk}W_N^{-mk}} \\ &\xlongequal{利用\widetilde{x}\left(n\right)和W_N^{nk}的周期性}\left(\sum_{n=0}^{N-1}{\widetilde{x}\left(n\right)W_N^{nk}}\right)W_N^{-mk}=W_N^{-mk}\widetilde{X}\left(k\right) \end{aligned}
DFS[x
(n+m)]=n=0∑N−1x
(n+m)WNnk=n=m∑N−1+mx
(n)WN(n−m)k=n=m∑N−1+mx
(n)WNnkWN−mk利用x
(n)和WNnk的周期性(n=0∑N−1x
(n)WNnk)WN−mk=WN−mkX
(k)
3.3 频移性质
I
D
F
S
[
X
~
(
k
+
l
)
]
=
W
N
n
l
x
~
(
n
)
\mathrm{IDFS}\left[\widetilde{X}\left(k+l\right)\right]=W_N^{nl}\widetilde{x}\left(n\right)
IDFS[X
(k+l)]=WNnlx
(n)证明:
I
D
F
S
[
X
~
(
k
+
l
)
]
=
1
N
∑
k
=
0
N
−
1
X
~
(
k
+
l
)
W
N
−
k
n
=
1
N
∑
k
=
l
N
−
1
+
l
X
~
(
k
)
W
N
−
(
k
−
l
)
n
=
1
N
∑
k
=
l
N
−
1
+
l
X
~
(
k
)
W
N
−
k
n
W
N
n
l
=
利
用
X
~
(
n
)
和
W
N
−
n
k
的
周
期
性
1
N
(
∑
k
=
0
N
−
1
X
~
(
k
)
W
N
−
k
n
)
W
N
n
l
=
W
N
n
l
x
~
(
n
)
\begin{aligned} \mathrm{IDFS}\left[\widetilde{X}\left(k+l\right)\right]&=\frac{1}{N}\sum_{k=0}^{N-1}{\widetilde{X}\left(k+l\right)W_N^{-kn}}=\frac{1}{N}\sum_{k=l}^{N-1+l}{\widetilde{X}\left(k\right)W_N^{-\left(k-l\right)n}}=\frac{1}{N}\sum_{k=l}^{N-1+l}{\widetilde{X}\left(k\right)W_N^{-kn}W_N^{nl}} \\ &\xlongequal{利用\widetilde{X}\left(n\right)和W_N^{-nk}的周期性}\frac{1}{N}\left(\sum_{k=0}^{N-1}{\widetilde{X}\left(k\right)W_N^{-kn}}\right)W_N^{nl}=W_N^{nl}\widetilde{x}\left(n\right) \end{aligned}
IDFS[X
(k+l)]=N1k=0∑N−1X
(k+l)WN−kn=N1k=l∑N−1+lX
(k)WN−(k−l)n=N1k=l∑N−1+lX
(k)WN−knWNnl利用X
(n)和WN−nk的周期性N1(k=0∑N−1X
(k)WN−kn)WNnl=WNnlx
(n)
3.4 时域周期卷积
x
~
1
(
n
)
⊙
x
~
2
(
n
)
=
I
D
F
S
[
X
~
1
(
k
)
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{\widetilde{x}}_1\left(n\right)\odot{\widetilde{x}}_2\left(n\right)=\mathrm{IDFS}\left[{\widetilde{X}}_1\left(k\right)\cdot{\widetilde{X}}_2\left(k\right)\right]
x
1(n)⊙x
2(n)=IDFS[X
1(k)⋅X
2(k)]证明:
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\begin{aligned} \mathrm{IDFS}\left[{\widetilde{X}}_1\left(k\right)\cdot{\widetilde{X}}_2\left(k\right)\right]&=\frac{1}{N}\sum_{k=0}^{N-1}{\left[{\widetilde{X}}_1\left(k\right)\cdot{\widetilde{X}}_2\left(k\right)\right]W_N^{-nk}}\\ &=\frac{1}{N}\sum_{k=0}^{N-1}{\left[\sum_{m=0}^{N-1}{{\widetilde{x}}_1\left(m\right)W_N^{mk}}\right]{\widetilde{X}}_2\left(k\right)W_N^{-nk}}\\ &=\frac{1}{N}\sum_{k=0}^{N-1}\left[\sum_{m=0}^{N-1}{{\widetilde{x}}_1\left(m\right){{\widetilde{X}}_2\left(k\right)W}_N^{-\left(n-m\right)k}}\right]\\ &=\sum_{m=0}^{N-1}{{\widetilde{x}}_1\left(m\right)\left[\frac{1}{N}\sum_{k=0}^{N-1}{{\widetilde{X}}_2\left(k\right)W}_N^{-\left(n-m\right)k}\right]}\\ &=\sum_{m=0}^{N-1}{{\widetilde{x}}_1\left(m\right){\widetilde{x}}_2\left(n-m\right)} \\ &={\widetilde{x}}_1\left(n\right)\odot{\widetilde{x}}_2\left(n\right) \end{aligned}
IDFS[X
1(k)⋅X
2(k)]=N1k=0∑N−1[X
1(k)⋅X
2(k)]WN−nk=N1k=0∑N−1[m=0∑N−1x
1(m)WNmk]X
2(k)WN−nk=N1k=0∑N−1[m=0∑N−1x
1(m)X
2(k)WN−(n−m)k]=m=0∑N−1x
1(m)[N1k=0∑N−1X
2(k)WN−(n−m)k]=m=0∑N−1x
1(m)x
2(n−m)=x
1(n)⊙x
2(n)
注:此处用 ⊙ \odot ⊙ 表示圆周卷积,不同教材中圆周卷积的符号表述可能不同。
3.5 频域周期卷积
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\mathrm{DFS}\left[{\widetilde{x}}_1\left(n\right){\widetilde{x}}_2\left(n\right)\right]=\frac{1}{N}\left[{\widetilde{X}}_1\left(k\right)\odot{\widetilde{X}}_2\left(k\right)\right]
DFS[x
1(n)x
2(n)]=N1[X
1(k)⊙X
2(k)]证明:
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\begin{aligned} \mathrm{DFS}\left[{\widetilde{x}}_1\left(n\right){\widetilde{x}}_2\left(n\right)\right]&=\sum_{n=0}^{N-1}{{\widetilde{x}}_1\left(n\right){\widetilde{x}}_2\left(n\right)W_N^{kn}}=\sum_{n=0}^{N-1}{\left[\frac{1}{N}\sum_{r=0}^{N-1}{{\widetilde{X}}_1\left(r\right)W_N^{-rn}}\right]{\widetilde{x}}_2\left(n\right)W_N^{kn}}\\ &=\frac{1}{N}\sum_{n=0}^{N-1}\left[\sum_{r=0}^{N-1}{{\widetilde{X}}_1\left(r\right){\widetilde{x}}_2\left(n\right)W_N^{\left(k-r\right)n}}\right]\\ &=\frac{1}{N}\sum_{r=0}^{N-1}{{\widetilde{X}}_1\left(r\right)\left[\sum_{k=0}^{N-1}{{\widetilde{x}}_2\left(n\right)W_N^{\left(k-r\right)n}}\right]}\\ &=\frac{1}{N}\sum_{r=0}^{N-1}{{\widetilde{X}}_1\left(r\right){\widetilde{X}}_2\left(k-r\right)}\\ &=\frac{1}{N}\left[{\widetilde{X}}_1\left(k\right)\odot{\widetilde{X}}_2\left(k\right)\right] \end{aligned}
DFS[x
1(n)x
2(n)]=n=0∑N−1x
1(n)x
2(n)WNkn=n=0∑N−1[N1r=0∑N−1X
1(r)WN−rn]x
2(n)WNkn=N1n=0∑N−1[r=0∑N−1X
1(r)x
2(n)WN(k−r)n]=N1r=0∑N−1X
1(r)[k=0∑N−1x
2(n)WN(k−r)n]=N1r=0∑N−1X
1(r)X
2(k−r)=N1[X
1(k)⊙X
2(k)]
注:此处用 ⊙ \odot ⊙ 表示圆周卷积,不同教材中圆周卷积的符号表述可能不同。