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5 f N
4 f N
3 f N
2 f N
f N
0
- f N
-2 f N
-3 f N
-4 f N
-5 f N
Figure 2.15 Folding of the content on the frequency axis causing aliasing in the
case of time sequences not limited in their frequency content to the principal
Nyquist band,
f N
f
f N .
2.5 Power spectral density estimation
The power spectral density, which displays how power in a sequence is distributed
over the frequency axis, is a very useful tool in the search for new signals in back-
ground noise. Usually, a new signal, to be observed for the first time, will be obs-
cured by background noise, otherwise it would have been found previously. Thus,
the estimation of power spectral density is a very important topic for consideration.
2.5.1 Autocorrelation and spectral density
In our earlier discussion of discrete time sequences (Section 2.1.3), we defined the
autocorrelation at lag j , time index k , of an equispaced time sequence f ,as
= E f k f k j .
φ ff ( j , k )
(2.303)
The equivalent definition for a continuous sequence at lag τ, time t ,is
E f ( t ) f ( t
τ) .
φ ff (τ, t )
=
(2.304)
For stationary sequences, the autocorrelation becomes a function of lag alone,
E f ( t ) f ( t
τ) .
φ ff (τ)
=
(2.305)
Again, for a stationary process, the expectation over an ensemble of realisations
may be replaced, by the ergodic hypothesis, with the average over time of an infin-
ite record. Hence,
T /2
1
T
f ( t ) f ( t
φ ff (τ)
=
lim
T →∞
τ) dt .
(2.306)
T /2
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