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== Outline  ==
 
 
 
#Introduction  
 
#Introduction  
#Definition of Downsampling<br>
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#Definition of Downsampling<br>  
#Derivation of DTFT&nbsp;of downsampled signal<br>
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#Derivation of DTFT&nbsp;of downsampled signal<br>  
 
#Example  
 
#Example  
#Conclusion
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#Decimator
#References
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#Conclusion<br>
  
 
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== Introduction  ==
 
== Introduction  ==
  
This slecture provides definition of downsampling, derives DTFT&nbsp;equation of downsampled signal and demonstrates it in a frequency domain. Also, it explains process of decimation and why it needs a low-pass filter.  
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This slecture provides definition of downsampling, derives DTFT of&nbsp; downsampled signal and demonstrates it in a frequency domain. Also, it explains process of decimation and why it needs a low-pass filter.  
  
 
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== Definition of Downsampling<br> ==
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== Definition of Downsampling<br> ==
  
 
Downsampling is an operation which involves throwing away samples from discrete-time signal. Let&nbsp; ''x[n]'' be a digital-time signal shown below: <br>  
 
Downsampling is an operation which involves throwing away samples from discrete-time signal. Let&nbsp; ''x[n]'' be a digital-time signal shown below: <br>  
  
GRAPH<br>  
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[[Image:Xofn.jpg]]<br>  
  
 
&nbsp;then y[n] will be produced by downsampling ''x [n]''&nbsp; by factor ''D'' = 3. So, ''y [n] = x[Dn]''.  
 
&nbsp;then y[n] will be produced by downsampling ''x [n]''&nbsp; by factor ''D'' = 3. So, ''y [n] = x[Dn]''.  
  
GRAPH<br>  
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[[Image:Yofn.jpg]]<br>  
  
 
As seen in above graph, ''y [n]'' is obtained by throwing away some samples from x [n]. So, ''y [n]'' is a downsampled signal from  
 
As seen in above graph, ''y [n]'' is obtained by throwing away some samples from x [n]. So, ''y [n]'' is a downsampled signal from  
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----
 
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== Derivation of DTFT&nbsp;of downsampled signal ==
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== Derivation of DTFT&nbsp;of downsampled signal ==
  
Nyquist Theorem: A signal <span class="texhtml">''x''(''t'')</span> that has the property <span class="texhtml">''X''(''f'') = 0</span> for <math> |f| \ge f_M </math> can be perfectly reconstructed from its sampling <span class="texhtml">''x''<sub>''s''</sub>(''t'')</span> if sampled at a rate <span class="texhtml">''f''<sub>''s''</sub> &gt; 2''f''<sub>''M''</sub></span>.  
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Let ''x (t) ''be a continuous tim''e ''signal. Then ''x<sub>1</sub> [n] = x (T<sub>1</sub>n) ''and''&nbsp; x<sub>2</sub> [n] = x (T<sub>2</sub>n)''. And ratio of sampling periods would be
  
To prove that perfect reconstruction is possible, we must find an expression for <span class="texhtml">''x''(''t'')</span> in terms of <span class="texhtml">''x''<sub>''s''</sub>(''t'')</span>.  
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D = T<sub>2</sub>/T<sub>1</sub>, &nbsp; which is an integer greater than 1. From these equations we obtain realtionship between ''x<sub>1</sub> [n]'' and ''x<sub>2</sub> [n]''. <br>
  
Given that <math> \mathcal{F}(x(t)) = X(f) </math>, we can find <span class="texhtml">''X''<sub>''s''</sub>(''f'')</span> using the convolution property.
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<math>\begin{align}  
<div style="margin-left: 3em;">
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x_2 [n] = x(T_2 n) = x(DT_1 n) = x_1 [nD]
<math>
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\end{align}</math>  
\begin{align}
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X_s(f) &= X(f)*\mathcal{F}(p_{\frac{1}{f_s}})\\
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&= X(f)*\mathcal{F}(\sum_{k = -\infty}^\infty \delta(t-\frac{k}{f_s}))\\
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&= X(f)*f_s\sum_{k = -\infty}^\infty \delta(f-kf_s)\\
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&= f_s\sum_{k = -\infty}^\infty X(f)*\delta(t-\frac{k}{f_s})\\
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&= f_s\sum_{k = -\infty}^\infty X(f-kf_s)\\
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\end{align}
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</math>
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</div>
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Without loss of generality, we can assume that the signal <span class="texhtml">''x''(''t'')</span> has the spectrum shown in the figure below. The shape of the graph of <span class="texhtml">''X''(''f'')</span> does not matter because the only important feature of <span class="texhtml">''X''(''f'')</span> is that <span class="texhtml">''X''(''f'') = 0</span> for <math> |f| \ge f_M </math>.
+
  
[[Image:X1.png]]  
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Below we derive Discrete-Time Fourier Transform of ''x<sub>2</sub> [n]'' in terms of DTFT of ''x<sub>1</sub> [n]''.
  
We would like to determine what <span class="texhtml">''X''<sub>''s''</sub>(''f'')</span> looks like in order to find a way to reconstruct <span class="texhtml">''x''(''t'')</span>.
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<br>  
  
Since we have sampled at a rate <span class="texhtml">''f''<sub>''s''</sub> &gt; 2''f''<sub>''M''</sub></span>, the following inequalities hold:
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<math>\begin{align}
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&\mathcal{X}_2(\omega)= \mathcal{F}(x_2 [n]) = \mathcal{F}(x_1 [Dn])\\
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&=  \sum_{n = -\infty}^\infty x_1[Dn] e^{-j \omega n} =  \sum_{m = -\infty}^\infty x_1[m] e^{-j \omega {\frac{m}{D}}}\\
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&=  \sum_{n = -\infty}^\infty s_D[m]* x_1 [m] e^{-j \omega {\frac{m}{D}}}\\
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\end{align}</math>  
  
<math> f_s > 2f_M \iff f_s - f_M > f_M \iff -f_s + f_M < f_M </math>.
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<br>  
  
Together, these inequalities, the graph of <span class="texhtml">''X''(''f'')</span>, and the expression for <span class="texhtml">''X''<sub>''s''</sub>(''f'')</span> in terms of <span class="texhtml">''X''(''f'')</span> imply that <span class="texhtml">''X''<sub>''s''</sub>(''f'')</span> will have the spectrum shown in the figure below.
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where <br>  
  
[[Image:Xs1.png]]
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<math>s_D [m]=\left\{ \begin{array}{ll}
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1,& \text{ if } n \text{ is a multiple of } D,\\
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0, & \text{ else}.  
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\end{array}\right. = {\frac{1}{D}} \sum_{k = -\infty}^{D-1} e^{jk {\frac{2 \pi}{D} m}}</math>
  
Notice that the spectrum of the ideal sampling of a signal is an amplitude scaled periodic repetition of the original spectrum. Since <span class="texhtml">''x''(''t'')</span> is bandlimited and we have sampled at a rate <span class="texhtml">''f''<sub>''s''</sub> &gt; 2''f''<sub>''M''</sub></span>, the periodic repetitions of <span class="texhtml">''X''(''f'')</span> do not overlap.
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<br>  
  
All the information needed to reconstruct <span class="texhtml">''X''(''f'')</span> can be found in the portion of <span class="texhtml">''X''<sub>''s''</sub>(''f'')</span> that corresponds to <span class="texhtml">''X''(''f'')</span> (shown in red). Therefore we can use a simple lowpass filter with gain <math> \tfrac{1}{f_s} </math> and cutoff frequency <math> \tfrac{f_s}{2} </math> to recover <span class="texhtml">''X''(''f'')</span> from <span class="texhtml">''X''<sub>''s''</sub>(''f'')</span>.
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<math>\begin{align}
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&\mathcal{X}_2(\omega)= \sum_{m = -\infty}^\infty {\frac{1}{D}} \sum_{k = -\infty}^{D-1} e^{jk {\frac{2 \pi}{D} m}}  x_1[m] e^{-j \omega {\frac{m}{D}}}\\
 +
&= {\frac{1}{D}} \sum_{k = -\infty}^{D-1} \sum_{m = -\infty}^\infty  x_1[m] e^{-jm ({\frac{\omega - 2 \pi k}{D}})} = \\
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&=  {\frac{1}{D}} \sum_{k = -\infty}^{D-1} \mathcal{X}_1 ({\frac{\omega - 2 \pi k}{D}}) \\
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\end{align}</math>  
  
<br> <math>
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----
X(f) = X_s(f)\left\{
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\begin{array}{ll}
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\frac{1}{f_s}, & |f| \le \frac{f_s}{2}\\
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0, & \text{else}
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\right. </math>
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<math> \iff x(t) = x_s(t)*\text{sinc}(f_st) </math>  
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== Example<br> ==
  
<math> \therefore </math> We can perfectly reconstruct <span class="texhtml">''x''(''t'')</span> from <span class="texhtml">''x''<sub>''s''</sub>(''t'')</span>.
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<br>  
  
----
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Let's take a look&nbsp; at&nbsp; an original signal ''X<sub>1</sub> (w)'' and&nbsp;&nbsp;''X<sub>2</sub> (w)'' which is obtained after downsampling X<sub>1</sub>(w) by factor D = 2 in a frequency domain.
  
== Example  ==
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[[Image:Downsamplegraph.jpg]]<br>
  
Though the Nyquist theorem states that perfect reconstruction is possible if we satisfy the Nyquist condition <span class="texhtml">(''f''<sub>''s''</sub> &gt; 2''f''<sub>''M''</sub>)</span>, it is important to note that this condition is not necessary. The following example demonstrates how perfect reconstruction is sometimes possible even when undersampling.
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<br>  
  
Let the signal <span class="texhtml">''x''(''t'')</span> have a spectrum <span class="texhtml">''X''(''f'')</span> as seen in the figure below.  
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From two graphs it is seen that signal is stretched by D&nbsp; in frequency domain and&nbsp; decreased by D in a magnitude after downsampling. Both signals have the frequency of&nbsp;<math>\begin{align}
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2\pi
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\end{align}</math> .  
  
[[Image:X2.png]]
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== Decimator  ==
  
The Nyquist condition states that we should sample at a rate <span class="texhtml">''f''<sub>''s''</sub> &gt; 2(2''a'') = 4''a''</span>. Instead, let us sample at <span class="texhtml">''f''<sub>''s''</sub> = 2''a''</span>.
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As seen in second graph, if&nbsp;<math>\begin{align}
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D2\pi T_1f_{max}
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\end{align}</math> is greater than <math>\begin{align}
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\pi
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\end{align}</math> aliasing occurs. Downsampler is a part of a decimator which also has a low-pass filter to&nbsp; prevent aliasing.&nbsp; LPF eliminates signal components which has&nbsp; frequencies higher than cutoff frequency, which can be found from graphs shown above.<br>  
  
As before, we have <math> x_s(t) = x(t)p_{\frac{1}{f_s}}(t) </math> and <math> X_s(f) = f_s\sum_{k = -\infty}^\infty X(f-kf_s) </math>  
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&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; <math>\begin{align}
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& D\omega_c = D 2 \pi T_1 f_{max} < \pi\\
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& {\frac{T_2}{T_1}} 2\pi T_1 f_{max} < \pi \\
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&  2\pi T_2f_{max} < \pi \\
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&f_{max} < {\frac{1}{2T_2}}
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\end{align}</math>  
  
<math> \implies X_s(f) = 2a\sum_{k = -\infty}^\infty X(f-2ka) </math>.  
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Thereby, signal needs to be filtered before downsampling if f<sub>max</sub> &gt; 1/(2T<sub>2</sub>) . Complete block diagram of a decimator is shown below:<br>
  
Therefore, <span class="texhtml">''X''<sub>''s''</sub>(''f'')</span> will have the spectrum shown in the figure below.
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<br>  
  
[[Image:Xs2.png]]  
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[[Image:Decimator cutoff.jpg]]  
  
Notice that there is no aliasing in <span class="texhtml">''X''<sub>''s''</sub>(''f'')</span> even though <span class="texhtml">''f''<sub>''s''</sub> &lt; 4''a''</span>. In addition, the portion of <span class="texhtml">''X''<sub>''s''</sub>(''f'')</span> that corresponds to <span class="texhtml">''X''(''f'')</span> (shown in red) can be recovered using a bandpass filter with gain <math> \tfrac{1}{2a} </math> and cutoff frequencies <span class="texhtml">''a'' and 2''a''</span>.
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<font size="3">To summarize, the Nyquist theorem states that any bandlimited signal can be perfectly reconstructed from its sampling if sampled at a rate greater than twice its bandwidth <span class="texhtml">(''f''<sub>''s''</sub> &gt; 2''f''<sub>''M''</sub>)</span>. However, the Nyquist condition is not necessary for perfect reconstruction as shown in the example above. </font>  
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== References  ==
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[1] John G. Proakis, Dimitris G. Manolakis, "Digital Signal Processing with Principles, Algorithms, and Applications" 4th Edition,2006
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<font size="3">To summarize, downsampling is a process of removing samples from signal. After downsampling,&nbsp; signal decreases by factor D in the magnitude and stretches by D in frequency domain.&nbsp; In order to downsample a signal, it first should be filtered by LPF to prevent aliasing.&nbsp; Both LPF and downsampler are parts of a decimator. </font>
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== [[Nyquist Miguel Castellanos ECE438 slecture review|Questions and comments]]  ==
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----
  
If you have any questions, comments, etc. please post them on [[Nyquist Miguel Castellanos ECE438 slecture review|this page]].
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== [[Yeshmukhanbetov ECE438 slecture review|Questions and comments]] ==
  
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If you have any questions, comments, etc. please post them on [[Yeshmukhanbetov ECE438 slecture review|this page]].
  
[[2014 Fall ECE 438 Boutin|Back to ECE438, Fall 2014]]  
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----
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[[2014_Fall_ECE_438_Boutin_digital_signal_processing_slectures|Back to ECE438 slectures, Fall 2014]]
  
 
[[Category:Slecture]] [[Category:ECE438Fall2014Boutin]] [[Category:ECE]] [[Category:ECE438]] [[Category:Signal_processing]]
 
[[Category:Slecture]] [[Category:ECE438Fall2014Boutin]] [[Category:ECE]] [[Category:ECE438]] [[Category:Signal_processing]]

Latest revision as of 18:07, 16 March 2015


Downsampling

A slecture by ECE student Yerkebulan Yeshmukhanbetov

Partly based on the ECE438 Fall 2014 lecture material of Prof. Mireille Boutin.




Outline

  1. Introduction
  2. Definition of Downsampling
  3. Derivation of DTFT of downsampled signal
  4. Example
  5. Decimator
  6. Conclusion

Introduction

This slecture provides definition of downsampling, derives DTFT of  downsampled signal and demonstrates it in a frequency domain. Also, it explains process of decimation and why it needs a low-pass filter.


Definition of Downsampling

Downsampling is an operation which involves throwing away samples from discrete-time signal. Let  x[n] be a digital-time signal shown below:

Xofn.jpg

 then y[n] will be produced by downsampling x [n]  by factor D = 3. So, y [n] = x[Dn].

Yofn.jpg

As seen in above graph, y [n] is obtained by throwing away some samples from x [n]. So, y [n] is a downsampled signal from

x [n].


Derivation of DTFT of downsampled signal

Let x (t) be a continuous time signal. Then x1 [n] = x (T1n) and  x2 [n] = x (T2n). And ratio of sampling periods would be

D = T2/T1,   which is an integer greater than 1. From these equations we obtain realtionship between x1 [n] and x2 [n].

$ \begin{align} x_2 [n] = x(T_2 n) = x(DT_1 n) = x_1 [nD] \end{align} $

Below we derive Discrete-Time Fourier Transform of x2 [n] in terms of DTFT of x1 [n].


$ \begin{align} &\mathcal{X}_2(\omega)= \mathcal{F}(x_2 [n]) = \mathcal{F}(x_1 [Dn])\\ &= \sum_{n = -\infty}^\infty x_1[Dn] e^{-j \omega n} = \sum_{m = -\infty}^\infty x_1[m] e^{-j \omega {\frac{m}{D}}}\\ &= \sum_{n = -\infty}^\infty s_D[m]* x_1 [m] e^{-j \omega {\frac{m}{D}}}\\ \end{align} $


where

$ s_D [m]=\left\{ \begin{array}{ll} 1,& \text{ if } n \text{ is a multiple of } D,\\ 0, & \text{ else}. \end{array}\right. = {\frac{1}{D}} \sum_{k = -\infty}^{D-1} e^{jk {\frac{2 \pi}{D} m}} $


$ \begin{align} &\mathcal{X}_2(\omega)= \sum_{m = -\infty}^\infty {\frac{1}{D}} \sum_{k = -\infty}^{D-1} e^{jk {\frac{2 \pi}{D} m}} x_1[m] e^{-j \omega {\frac{m}{D}}}\\ &= {\frac{1}{D}} \sum_{k = -\infty}^{D-1} \sum_{m = -\infty}^\infty x_1[m] e^{-jm ({\frac{\omega - 2 \pi k}{D}})} = \\ &= {\frac{1}{D}} \sum_{k = -\infty}^{D-1} \mathcal{X}_1 ({\frac{\omega - 2 \pi k}{D}}) \\ \end{align} $


Example


Let's take a look  at  an original signal X1 (w) and  X2 (w) which is obtained after downsampling X1(w) by factor D = 2 in a frequency domain.

Downsamplegraph.jpg


From two graphs it is seen that signal is stretched by D  in frequency domain and  decreased by D in a magnitude after downsampling. Both signals have the frequency of $ \begin{align} 2\pi \end{align} $ .

Decimator

As seen in second graph, if $ \begin{align} D2\pi T_1f_{max} \end{align} $ is greater than $ \begin{align} \pi \end{align} $ aliasing occurs. Downsampler is a part of a decimator which also has a low-pass filter to  prevent aliasing.  LPF eliminates signal components which has  frequencies higher than cutoff frequency, which can be found from graphs shown above.

                             $ \begin{align} & D\omega_c = D 2 \pi T_1 f_{max} < \pi\\ & {\frac{T_2}{T_1}} 2\pi T_1 f_{max} < \pi \\ & 2\pi T_2f_{max} < \pi \\ &f_{max} < {\frac{1}{2T_2}} \end{align} $

Thereby, signal needs to be filtered before downsampling if fmax > 1/(2T2) . Complete block diagram of a decimator is shown below:


Decimator cutoff.jpg




Conclusion

To summarize, downsampling is a process of removing samples from signal. After downsampling,  signal decreases by factor D in the magnitude and stretches by D in frequency domain.  In order to downsample a signal, it first should be filtered by LPF to prevent aliasing.  Both LPF and downsampler are parts of a decimator.






Questions and comments

If you have any questions, comments, etc. please post them on this page.


Back to ECE438 slectures, Fall 2014

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