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End-to-End Deep Learning-Based Compressive

Spectrum Sensing in Cognitive Radio Networks


Xiangyue Meng∗ , Hazer Inaltekin† , and Brian Krongold∗
∗ Department of Electrical and Electronic Engineering, The University of Melbourne, Melbourne, VIC 3010, Australia.
{xiangyuem@student., bsk@}unimelb.edu.au
† School of Engineering, Macquarie University, North Ryde, NSW 2109, Australia.
hazer.inaltekin@mq.edu.au

Abstract—In cognitive radio networks, compressive sensing approach has a very high deployment cost. A more direct
has the potential to allow a secondary user to efficiently monitor approach is to sample the incoming signals at the Nyquist
a wideband spectrum at a sub-Nyquist sampling rate without rate and recover the spectrum, which requires complex and
complex hardware. In general, compressive sensing techniques
leverage the assumption of sparsity of the wideband spectrum expensive analog-to-digital circuitry operating at a very high
to recover the spectrum by solving a set of ill-posed linear sampling rate. Different from the aforementioned approaches,
equations. In this paper, we adopt the framework of a generative compressive sensing is a more practical approach with the
adversarial neural network (GAN) in deep learning and propose benefit of monitoring a wideband spectrum with low latency,
a deep compressive spectrum sensing GAN (DCSS-GAN), where low complexity, and low sampling rate.
two neural networks are trained to compete with each other to
recover the spectrum from undersampled samples in the time The theory of compressive sensing states that, under the
domain. The proposed DCSS-GAN is a data-driven learning assumptions of signal sparsity and incoherent sampling,
approach that does not require a priori statistics about the signals can be recovered from much fewer samples than
radio environment. In addition, it is an end-to-end algorithm conventional Nyquist-rate approaches [3]. Intuitively, many
that directly recovers the information of spectrum occupancy natural signals lie on a low-dimensional manifold in a high-
from raw samples and without the need of energy detection.
Various simulations show that the proposed DCSS-GAN has a dimensional space. Consequently, their information rates are
12.3% to 16.2% performance gain on prediction accuracy at a much lower than their Nyquist sampling rates, or equiva-
1/8th compression ratio compared to the conventional LASSO lently, these signals are compressible. As wideband wireless
approach. signals are inherently sparse in the frequency domain due
to spectrum segmentation and low utilization, compressive
I. I NTRODUCTION spectrum sensing becomes a promising paradigm to realize
With the exploding growth of smart user devices, Internet practical wideband sensing at a sub-Nyquist sampling rate, as
of Things (IoT), and self-driving cars, spectrum scarcity has recognized by a previous work [4].
become one of the major challenges in the fifth generation With fast development of the theory of machine learning
(5G) of wireless communication networks. Cognitive radio and computing power, deep learning has shown a powerful
has been a promising technology to boost spectrum utility by capability to discover complex models from raw training data
enabling unlicensed users to opportunistically exploit spec- without the need of extracting hand-crafted features first [5].
trum holes in licensed bands with minimum interference to Generative adversarial networks (GANs) are a breed of deep
primary users (PU) [1]. One of the key enablers of cognitive learning models that include a pair of competing deep neural
radio is the ability of sensing spectrum holes in an unknown networks: a generative neural network is to learn the proba-
environment, possibly consisting of multiple primary net- bility distribution of the data and generate fictitious examples,
works, so as to exploit the unused part of the spectrum. whereas an adversarial neural network is to discriminate
A large amount of existing work in the literature of spec- the fictitious examples against the true data from the model
trum sensing in cognitive radio networks (CRNs) has been from which it learns. This adversarial framework drives both
focusing on narrowband spectrum sensing, where a secondary neural networks to continuously improve themselves until the
user (SU) monitors only a single slice of the spectrum [2]. generated examples and the real data are indistinguishable [6].
However, in a practical CRN, wideband spectrum sensing Inspired by the successful applications of GAN in image
is usually required because a SU needs to monitor multiple restoration, such as super-resolution [7] and inpainting [8], we
bands of the spectrum so as to explore more spectrum propose a deep compressive spectrum sensing GAN (DCSS-
opportunities in a wide frequency range. One simple approach GAN) that learns the low-dimensional manifold of a wide-
is to use a narrowband sensing technique to sweep the entire band spectrum from the undersampled training signals. Our
spectrum. But this approach introduces a various amount of contributions are as follows.
delays to the system, depending on the sweeping frequency • To the best of our knowledge, this is the first work that
range. Another approach is to deploy a sensing agent for each is proposed to use a deep learning approach to solve
frequency band and simultaneously monitor them, but this compressive sensing problems in CRNs.

978-1-7281-5089-5/20/$31.00 ©2020 IEEE

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the context of cognitive radio, the authors in [12] use GAN
to augment the training data so as to increase the sensing
accuracy for a narrowband cognitive radio system.
In this paper, we employ GAN and propose a DCSS-GAN
algorithm to learn the occupancy of a wideband spectrum in
CRNs. To this end, three neural networks, consisting of a
generator, a discriminator, and a classifier, are used to learn the
manifold of the spectrum of the undersampled input signals.
Specifically, the generator generates a spectrum from the input
data, whereas the discriminator predicts the probability of the
generated spectrum data being alias-free and reinforces the
learning of the generator. The classifier, which is connected to
the generator, classifies the occupancy of each spectrum block
Fig. 1. A cognitive small cell coexisting with satellite, cellular, and TV as a multi-label classification problem. These neural networks
coverage. are first trained by a given training dataset, and then can be
deployed as a wideband spectrum sensing agent.
• The proposed DCSS-GAN is a true end-to-end learning
algorithm in the sense that it does not require hand- III. S YSTEM AND S IGNAL M ODELS
crafted features of the input data a priori, and it can A. System Model
directly predict spectrum occupancy without needing
As shown in Fig. 1, we consider a wideband downlink
energy detection.
cognitive radio small cell that coexists with heterogeneous
• Our simulation results show that the proposed algorithm
primary networks that are licensed to use different frequency
has an 12.3% to 16.2% performance gain on prediction
bands in a wide range of the spectrum from Fa to Fb . We
accuracy at a low compression ratio1 compared to a
assume that the spectrum occupied by the primary networks
conventional approach
is under-utilized with an unknown pattern of occupancy. We
II. R ELATED W ORK further assume that each primary network occupies a non-
overlapping block of B consecutive frequency bands, with
A compressive sensing problem is essentially solving an
a guarding block of Bg frequency bands. The task of the
ill-posed linear system where the solution is not unique and
cognitive base station (CBS) is to monitor the wideband
includes infinitely many candidates. Among all the solutions,
spectrum so as to locate spectrum opportunities to transmit
we are interested in the sparsest one, which is an NP-
data to the associated users.
hard problem that requires an exhaustive search [3]. In an
ideal (noise-free) setting, basic pursuit [9] approximates the B. Signal model
solution by casting the problem as a linear program. In a re- Denote r(t) ∈ C be a complex baseband signal received at
alistic setting, where the measurements are noisy, the LASSO the CBS at time t, which we model as
method [10] finds the sparsest solution with a bounded error.
Alternatively, many other heuristic greedy algorithms, such r(t) = s(t) + w(t), (1)
as greedy pursuit, orthogonal matching pursuit, and gradient where s(t) is the composite PU signal from different sources,
pursuit [4] can be used to solve the problem in an iterative which includes the effects of fading, shadowing, and path loss
fashion. All of these conventional methods exploit specific and w(t) is the background noise. Let the sensing window
properties of the signals, and are not be able to adapt to the be [0, nT ), where T = 1/(2Fb ). We denote all the samples
dynamics of the environment, which is the nature of real- of r(t), s(t) and w(t) in the sensing window at the Nyquist
world spectrum occupancy. sampling rate 2Fb as a vector r , s , w ∈ Cn , respectively.
The authors in [11] proposed a regression-based machine Denote x  F s as the n-point DFT of s, and ζ  F w as
learning algorithm to estimate the wideband spectrum oc- the n-point DFT of w , where F n×n is the DFT matrix. If the
cupancy. However, similar to many other classical machine signal r(t) is sampled at a sub-Nyquist rate, the relationship
learning approaches, their proposed algorithm requires ex- between the spectrum x and the undersampled measurements
tracting hand-crafted features in the training data first so as y ∈ Cm , where m ≤ n, is given by
to fit into a regression algorithm, such as linear regression or
a support-vector machine. y = Ψr = ΨF −1 (x
x + ζ ) = Φ (x
x + ζ) , (2)
In recent years, modern machine learning has been increas-
where Ψ m×n is a random row-selection matrix, and Φ m×n 
ingly applied to the domain of image processing. GAN has
ΨF −1 is called a sensing matrix. Denote x̃  Φ †y , where Φ †
received a great amount of attention since its first debut in
is the pseudo inverse of Φ . At a sub-Nyquist sampling rate,
[6], especially in the context of image processing [7], [8]. In
x̃ is contaminated by aliased artifacts and additive noise. In
1 The compression ratio is defined as the ratio of the compressed sampling general, solving for x given y in (2) is an ill-posed problem,
rate and the conventionally required Nyquist sampling rate. since there are an infinite number of solutions for x . The

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each convolutional layer to stabilize the training of the deep
convolutional GAN, as suggested in [8].
The objective of the generator is to confuse the discrimi-
nator by generating clean spectrum from alias-contaminated
undersampled inputs. Let the label for x be 1 and the label
for x̃ be 0. Given the training dataset X and the parameters
of the discriminator Θ d , the loss function of the generator
Θg |X ; Θ d ) is defined as
Lg (Θ
 
Θg |X ; Θ d )  EX λ x
Lg (Θ x − G(x̃

x̃; Θ g )1 +
(3)
EX [log(1 − D(G(x̃x̃ Θd ))] ,
x̃; Θ g )|Θ
where λ is the weight of the spectrum reconstruction and the
1 -norm in the first term on the right-hand side of (3) promotes
the sparsity of the solution [3]. The second term captures the
loss of not being able to confuse the discriminator, i.e., when
the output of D(G(x̃x̃ Θd ) being close to 0. The generator
x̃; Θ g )|Θ
can be trained by optimizing
Fig. 2. Architecture and configurations of the neural networks in the proposed Θ̂ Θg |X ; Θ d ) .
Θg = arg min Lg (Θ (4)
DCSS-GAN. k: kernel size; n: number of convolutional filters; s: stride size. Θg

B. Training of the Discriminator


task of the compressive sensing problem in the proposed
DCSS-GAN is to recover the clean spectrum x from the As shown in Fig. 2(c), the discriminator consists of four
undersampled input y via x̃
x̃. convolutional layers, each with 128 convolutional filters with
a 3 × 3 kernel. A batch normalization layer and a leaky ReLU
IV. T HE P ROPOSED D EEP C OMPRESSIVE S PECTRUM activation layer are applied after each convolutional layer,
S ENSING GAN followed by a dense layer and a sigmoid activation, which
We first describe the training procedure of the proposed returns the probability of the input spectrum being clean.
DCSS-GAN algorithm. As shown in Fig. 2(a), the proposed Given the the training dataset X and the parameter of
DCSS-GAN consists of three deep neural networks: a gen- the generator Θ g , the loss function of the discriminator
erator, a discriminator, and a classifier. Denote the training Θd |X , Θ g ) is defined as
Ld (Θ
 (i) (i) N
dataset as X  (x x , x̃ ) i=1 , where the superscript (i)
Θd |X , Θ g )  − EX [log D(x
Ld (Θ x; Θ d )]
denotes the ith pair of a clean spectrum x and a contaminated (5)
spectrum x̃ x̃. In each iteration of training, the generator first − EX [log(1 − D(G(x̃ x̃
x̃; Θ g ); Θ d ))] ,
learns a function x̂ = G(x x, x̃
x̃; Θ g ) ∈ Cn that maps the where the first term on the right hand side of (5) captures
contaminated spectrum x̃ to a clean spectrum x̂ x̂. Then, the the loss when the output of D(x x; Θ d ) is near 0 but the label
discriminator learns a function D(x x, x̂
x̂; Θ d ) ∈ [0, 1] that for x is 1, the second term captures the loss when the output
evaluates the authenticity of x̂ generated by the generator of D(G(x̃x̃
x̃; Θ g ); Θ d )) is near 0 but the label for x̃ is 0, and
by predicting the probability of x̂ being noise and alias-free. the logarithmic operator heavily penalizes the predictions that
Lastly, in replacement of an energy detector, the classifier are far away from the correct labels. One can verify that the
z = C(x̂x̂
x̂; Θ c ) classifies the occupancy of each spectrum block loss function in (5) is the cross entropy between the training
as a multi-label classification problem, where its output z is a dataset X and the predictions from the discriminator, which is
vector of probabilities of each spectrum block being occupied. a commonly used loss function for binary classification [14].
The generator and the discriminator continuously pit against The discriminator can be trained by optimizing
each other until the authenticity of the generated spectrum
is indistinguishable by the discriminator. The training details Θ̂ Θd |X ; Θ g ) .
Θd = arg min Ld (Θ (6)
Θd
of the three neural networks in the proposed DCSS-GAN are
C. Training of the Classifier
described as follows.
The last stage of each iteration of training is to train the
A. Training of the Generator classifier that predicts the occupancy of each frequency band
The configuration of the generator is shown in Fig. 2(b). given the reconstructed spectrum x̂
x̂. This is essentially a multi-
In order to significantly increase the representational capacity label classification problem, where the label (i.e., occupancy
of the generator while keeping the network training feasible, of each frequency band) is not mutually exclusive.
we adopt eight deep ResNet blocks as proposed in [13]. Each The architecture of the classifier is shown in Fig. 2(d),
ResNet consists of one convolutional layer of 64 convolu- which consists of six convolutional layers, each followed by
tional filters each with a 3 × 3 kernel. We also apply a a max pooling layer, that are stacked on top of each other.
batch normalization layer and a ReLU activation layer after Each convolutional layer has 64 convolutional filters each

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r(t)
ym Algorithm 1: Training of the Deep Compressive Sensing Generative
y3
x̃ Adversarial Networks (DCSS-GAN) Algorithm
y2 Φ †y DCSS-GAN x
LNA
y1  (i) (i) N
fs x , x̃ ) i=1 ; Number of epochs E; Batch size
Input: Training dataset (x
[Fa , Fb ] M ; Learning rates αd , αg , and αc ; 1 weight λ;
Output: Wideband spectrum occupancy
PN Sequence
fCLK = 2Fb Initialization:
1: Randomly initialize Θ d , Θ g , and Θ c
Modulated Wideband Converter
Training:
Fig. 3. Interface of DCSS-GAN to a modulated wideband converter in [16]. 2: for e from 1 to ≤ E do
3: for b from 1 to ≤ N/M  do
4: Randomly sample a minibatch of M training examples from
with a 3 × 3 kernel. After a dense layer with a sigmoid xi , x̃ i )}N
{(x i=1 without replacement
activation function, the classifier predicts the probability of Update the discriminator D:
the occupancy of each spectrum block independently. Let 5: Keep Θ g fixed and update the discriminator D(Θ Θd ) by stochastic
x) be the indicator function of the spectrum occupancy gradient descent with learning rate αd :
s (x M 
1 
for the spectrum block s, which is 1 if the spectrum block s ∇Θ d M − log D(x (i) ; Θ d ) − log(1 − D(G(x̃ (i) ; Θ g ); Θ d ))
i=1
is occupied and 0 otherwise. Given the training examples X
Update the generator G:
and the parameter of the generator Θ g , the loss function of the 6: Keep Θ d fixed and update the generator G(Θ Θg ) by stochastic
classifier C is the average loss of all independent frequency gradient descent with learning rate αg :
1 
M
bands, which is defined as ∇Θ g x(i) − G(x̃
[λ||x x̃(i) ; Θ g )||1 +
  M i=1
1 
S
Θc |X ; Θ g )  EX −
Lc (Θ log(| x) − Cs (G(x̃
s (x x̃
x̃; Θ g ); Θ c )|) , x̃(i) ; Θ g )|Θ
log(1 − D(G(x̃ Θd ))]
S s=1
(7) Update the classifier C:
7: Keep Θ g fixed and update the classifier C(Θ Θc ) by stochastic
where S is the number of the spectrum blocks and Cs (·) is
 with learning rate αc :
gradient descent 
the sth element of the output of C(·). The classifier C can be 1 
M 
S
trained by optimizing ∇Θc M − S1 x(i) ) − Cs (G(x̃
log(| s (x x̃(i) ; Θ g ); Θ c )|)
i=1 s=1
8: end for
Θ̂ Θc |X ; Θ g ).
Θc = arg min Lc (Θ (8) 9: end for
Θc

D. Adversarial Training of Generator and Discriminator inverse of the undersampled measurements x̃ is fed into the
Flipping the signs of the terms in (5) and then combining generator of the DCSS-GAN to obtain an estimation of the
(6) with (4), the generator G and the discriminator D play a spectrum occupancy.
two-player min-max game to solve the following optimization
V. S IMULATION R ESULTS AND D ISCUSSIONS
problem
  A. Baseline Analysis
min max EX λ x x − G(x̃
x̃ x; Θ d )] +
x̃; Θ g )1 + EX [log D(x
Θg Θd When the undersampled measurements are noise-free, i.e.,

EX [log(1 − D(G(x̃
x̃; Θ g ); Θ d ))] , ζ = 0 in (2), among all x for y = Φx , we pick the solution
(9) that has the sparsest entries. Then, the solution can be obtained
which can be solved by alternatively updating the generator by solving the following convex optimization problem
and the discriminator, as shown in Algorithm 1. In the ini- maximize x 1
x
tialization stage, all parameters in the proposed DCSS-GAN x (10)
are randomly initialized. Then in each epoch of training, the subject to y = Φx .
discriminator, the generator, and the classifier are sequentially The optimization problem in (10) is generally NP-hard to
updated by employing the Adam optimizer [15] on mini- solve. However, since the sensing matrix Φ manifests itself as
batches of the training dataset. The algorithm terminates when a Fourier ensemble, which is obtained by randomly selecting
the losses of the generator and the discriminator converge. rows form the IDFT matrix F −1 , Φ satisfies the restricted
isometry property (RIP) [17]. Intuitively, when this property
E. Algorithm Deployment
holds, every k columns of the sensing matrix Φ are nearly
In practice, y can be obtained by mixing the received orthogonal. With this additional assumption, (10) can be re-
signal r(t) with a unique pseudo-random (PN) sequence in m formulated as a linear programming problem, and its solution
parallel branches, and then sampling at a sub-Nyquist rate fs , gives an accurate reconstruction of the original signal with
as shown in Fig. 3. Intuitively, the mixing operation spreads m = O(k log(n/k)) measurements [3].
the entire spectrum of r(t) so that after a low-pass filter in If the undersampled measurements are noisy, i.e., ζ > 0 in
each branch, the output is a narrowband copy of the signal (2), then, (10) can be relaxed as
that contains energy from all the other bands, and each PN
sequence can be viewed as one row in the sensing matrix Φ minimize x 1
x
x (11)
[16]. Once the proposed DCSS-GAN is trained, the pseudo subject to yy − Φx 2 ≤ ,

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Fig. 4. Training losses of DCSS-GAN with SNR = 20dB and the Fig. 5. The ROC curves and AUC values of the DCSS-GAN and the LASSO
compression ratio m/n = 1/8. algorithms when SNR is 20dB and 0dB, respectively, and the compression
ratio m/n = 1/8. The plot is the average performance based on 1000
different evaluation instances outside the training dataset.
where  is a pre-defined parameter that bounds the amount
of noise in the measurements. Clearly, the noise power is TABLE I
D EFINITIONS OF NTP , NFN , NFP , AND NTN .
required as a priori information so as to derive the optimal
value of . This problem can be solved efficiently by the Actual Spectrum Occupancy
LASSO method [10], which we will use as the baseline to Occupied (+) Vacant (−)
Spectrum Occupied (+) True Positive NTP False Positive NFP
demonstrate the effectiveness of our proposed DCSS-GAN. Prediction Vacant (−) False Negative NFN True Negative NTN

B. Simulation Settings
C. Effectiveness of the Adversarial Training
To evaluate the performance of the proposed DCSS-GAN
algorithm, we consider 8 heterogeneous primary networks First, we demonstrate the effectiveness of the adversarial
that occupy a wideband spectrum consisting of 256 frequency training of the proposed DCSS-GAN in reconstructing the
bands. Each primary network randomly occupies a block of spectrum from undersampled measurements. Fig. 4 shows the
B = 5 adjacent frequency bands and a guard block of Bg = 2 evolution of the loss functions during the adversarial training.
frequency bands (one band on each side). In each training pair At the early stage of the training, the discriminator can well
x(i) , x̃ (i) ), the clean spectrum x (i) is generated by randomly
(x differentiate between the true spectrum x and the generated
allocating frequency bands for these 8 blocks without over- spectrum x̃x̃, because the features of x̃ are significantly differ-
lapping, and each block has a uniformly distributed random ent from the x . The performance of the generator steadily
amplitude between 0.5 and 1. To generate x̃ (i) , we first obtain improves given by the evidence that the adversarial loss
the undersampled and noisy y (i) = Φ (i) (x x(i) + ζ (i) ), where continuously decreases. After about 85 epochs of training, the
(i)
each sensing matrix Φ is generated by randomly choosing generator is capable enough to confuse the discriminator by
m rows from the 512-point IDFT matrix, and ζ (i) is the noise creating a more legitimate spectrum x̂ that is close to the true
with various sensing signal-to-noise ratios (SNRs) for com- spectrum. The adversarial interaction between the generator
parison purposes. The compression ratio is then m/n, where and the discriminator keeps pushing down the 1 loss to the
the Nyquist sampling rate is n = 512. The contaminated equilibrium state.
 †
spectrum x̃ (i) is then obtained by Φ (i) y (i) . The training
 (i) (i) 5120 D. End-to-End Performance
dataset (x x , x̃ ) i=1 consists of 5120 training pairs.
We remark that the training dataset only covers a small Incorporating the multi-label classification part, we demon-
part of the possible combinatorial search space (i.e., the strate the performance of the proposed DCSS-GAN compared
number of possible combinations of selected frequency blocks to the LASSO algorithm that uses an energy detector. Perfor-
is significantly larger than the number of training examples). mance is measured in terms of receiver operating character-
The evaluation dataset is independently generated in the same istics (ROC) and the area under the curve (AUC), which are
manner in order to evaluate the proposed DCSS-GAN’s ability two common metrics in machine learning to measure how
to generalize to arbitrary band locations. well an algorithm is capable of distinguishing between labels
The proposed DCSS-GAN is trained by the Adam optimizer [18]. The ROC curves are plotted with the true positive rate
with the learning rates αd = 10−3 , αg = 10−7 and αc = 10−2 (TPR) against the false positive rate (FPR). The TPR and the
for the discriminator, the generator, and the classifier, respec- FPR is defined as
tively. The learning rates decay by an order of magnitude after NTP NFP
every 50 epochs of training. The size of each minibatch is 32. TPR = , and FPR = , (12)
NTP + NFN NFP + NTN

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Fig. 6. The performance of the DCSS-GAN and the LASSO algorithm recovering the same instance of spectrum with different compression ratios and when
SNR = 20dB. Top row: the input, i.e., the spectrum of the undersampled signals; Middle row: the recovered spectrum by LASSO; Bottom row: the recover
spectrum by DCSS-GAN. All plots are complemented by the target spectrum indicated by the dashed line.

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