Nyquist Sampling Theorem Sampling and Reconstruction
Prof Alfred Hero • Consider time sampling/reconstruction without quantization:
EECS206 F02
Lect 20 x[n] y(t)
x(t)
Ideal Sampler Reconstruction
•Special case of sinusoidal signals
•Aliasing (and folding) ambiguities
x[n]
•Shannon/Nyquist sampling theorem
• sampling period (secs/sample)
•Ideal reconstruction of a cts time signal x(t)
• sampling rate or frequency (samples/sec)
Alfred Hero 1 Alfred Hero 2
University of Michigan University of Michigan
Q. Is there a minimum sampling rate
necessary for good reconstruction? Sampling of sinusoid
• For simplicity specialize to a sinusoid
where
NOTE:
– frequency is unknown
– frequency is known
• After sampling at frequency
6 samples/cycle
Alfred Hero 3 Alfred Hero 4
University of Michigan University of Michigan
Slower sampling of sinusoid Sampling of Sinusoid: Notes
• There are no other sinusoidal signals with
fundamental frequencies less than 1KHz
that have exactly the same samples as
those in previous two examples.
• Thus, for these sampling rates any
fundamental frequency can
3 samples/cycle be uniquely identified
Alfred Hero 5 Alfred Hero 6
University of Michigan University of Michigan
1
Under sampled sinusoid
2 samples/cycle
Alfred Hero 7 Alfred Hero 8
University of Michigan University of Michigan
Poorly sampled sinusoid Poorly sampled sinusoid (ctd)
Sinusoid at
• With only 2 samples/cycle we may confuse x(t) ½ the frequency
with a sinusoid at lower frequency (0Hz). • Further reduction in sampling rate
• Sampled signal is “aliased” to the all zero signal. produces even more ambiguity!
2 samples/cycle • ½ sample/cycle
Alfred Hero 9 Alfred Hero 10
University of Michigan University of Michigan
What is really going on? Specialize to periodic DT sinusoid
• First we assume relation
• CT sinusoid at frequency sampled at rate
gives DT sinusoid:
• DT sinusoid with period N
• Observe: this signal is indistinguishable from a • Compare to generic periodic sinusoid
DT sinusoid at any of the frequencies
• Recognize DT fundamental frequency
Alfred Hero 11 Alfred Hero 12
University of Michigan University of Michigan
2
Recall CT and DT spectra Spectrum of CT Sinusoid
• Real sinusoidal signal
• CT spectrum (FS):
• DT spectrum (DFT):
0
Alfred Hero 13 Alfred Hero 14
University of Michigan University of Michigan Note: Conjugate symmetry
Spectrum of periodic DT sinusoid
with fundamental:
Sampling Spectrum
Spectrum
• CT and DT spectra of sinusoid are both
line spectra but with lines located at
Double sided spectrum Single sided spectrum
Spectrum Spectrum • Define the sampling spectrum of
as its DT spectrum with replaced by
or
0 0
Alfred Hero 15 Alfred Hero 16
University of Michigan University of Michigan
If x[n] is a sampled sinusoid with sampling Compare sampling spectrum of CT
frequency and
Then its sampling spectrum is:
sinusoid to spectrum of DT sinusoid
Spectrum
Spectrum
Spectrum of cts time sinusoid
0
0
Double sided spectrum Single sided spectrum
Spectrum Spectrum Double sided Sampling
spectrum
Sampling spectrum
or
0 0
Alfred Hero 17 Alfred Hero 0 18
University of Michigan University of Michigan
3
Next consider DFT spectrum for case:
Conclude Spectrum
• For
– The sampling spectrum of x[n] is identical to
the spectrum of the input x(t) to digitizer.
– Therefore the fundamental frequency can
Double sided spectrum Single sided spectrum
be recovered (along with sinusoidal amplitude
and phase) from the DT spectrum (DFT) of Spectrum Spectrum
the sampled signal via the formula
or
Alfred Hero 19 Alfred Hero 20
University of Michigan University of Michigan
Finally, consider DT spectrum for:
Conclude Spectrum
• For
– The cts sinusoidal frequency is no longer
recoverable from DFT spectrum since cannot tell
deifference between
Double sided spectrum Single sided spectrum
Spectrum Spectrum
– The negative frequency component has been
folded into the range
or
– The folded amplitude is complex conjugated
– This phenomenon is called (case II) ALIASING
Alfred Hero 21 Alfred Hero 22
University of Michigan University of Michigan
Conclude Summarizing
• For • When can recover from DFT
– The cts sinusoidal frequency is no longer
recoverable since cannot tell the difference
between • Otherwise have aliasing and recovery is impossible
– if
– A higher positive frequency has been aliased
into the frequency range – if
– Complex amplitude of the positive frequency
component is preserved
– This phenomenon is called (case I) ALIASING
Alfred Hero 23 Alfred Hero 24
University of Michigan University of Michigan
4
Sampling arbitrary periodic signals
Periodic Bandlimited Signal
• Let be the highest
frequency component (bandwidth) in Spectrum of a periodic signal x(t) with maximum
FS of a periodic signal x(t) having frequency = B Hz
fundamental frequency Spectrum
f (Hz)
• Such a signal is said to be -B 0 B
bandlimited to bandwidth
Q. What is minimum sampling freq
Alfred Hero
University of Michigan
? 25 Alfred Hero
University of Michigan
26
No aliasing occurs when exceed
Nyquist Sampling Rate
Nyquist sampling rate
• Can uniquely recover a periodic signal
bandlimited to bandwidth B when is chosen Original
Spectrum
such that
-B 0 B f
Sampled
Spectrum
• The rate 2B is called the Nyquist sampling rate
and it guarantees that no aliasing will occur
f
-2B -B 0 B 2B
Alfred Hero 27 Alfred Hero 28
University of Michigan University of Michigan
Aliasing occurs when sample below
Ideal Reconstruction
Nyquist sampling rate
• Q. Can we implement a reconstruction
Original
Spectrum algorithm to recover periodic input signal
from its Nyquist samples?
• A. Yes. By interpolating between samples
-B 0 B f
with (non-truncated) sinc interpolation
Sampled function
Spectrum
f
-B 0 B
Alfred Hero 29 Alfred Hero 30
University of Michigan University of Michigan
5
Ideal Sinc Interpolation Function Shannon Sampling Theorem
• If periodic x(t) is bandlimited to bandwidth
and samples x[n] are obtained from x(t) by
sampling at greater than Nyquist rate
then can exactly reconstruct x(t)
from samples using sinc interpolation formula
• This is also called the cardinal series for x(t)
Alfred Hero 31 Alfred Hero 32
University of Michigan University of Michigan
How to avoid aliasing if signal is not
Q. Why does sinc interpolation bandlimited?
work? • Must first apply a “Anti- aliasing filter” to eliminate
all frequency components above on half the
sampling frequency.
• This may destroy some small features of signal
A. The FS of the cardinal series is but is usually better than aliasing distortion.
identical to the FS of x(t) • Anti- aliasing filter can be implemented in the
frequency domain as a truncation operation
which only lets low frequency components pass
See EECS306
through.
Alfred Hero 33 Alfred Hero 34
University of Michigan University of Michigan
Anti-Alias (Lowpass) Filtering Anti-Alias (Lowpass) Filtering
Only retain these coefficients bandwidth =
Filter passes these freqs
Set these coeffs to 0 Set these coeffs to 0 Filter blocks these
Filter blocks these freqs
freqs
f f
0
Truncated spectrum Spectrum of filter output
f f
0
Alfred Hero 35 Alfred Hero 36
University of Michigan University of Michigan
6
Practical Sampling System
x(t) z(t) z[n]
Anti-alias filter Sampler
In this course we will not further elaborate on CT filters like
the anti-alias filter. We will, however, soon treat DT filters in
great detail!
Alfred Hero 37
University of Michigan
