| Summary: | In the next years, several new applications involving unmanned aerial vehicles (UAVs) for public and commercial uses are envisaged. In such developments, since UAVs are expected to operate within the public airspace, a key issue is the design of reliable control and non-payload communication (CNPC) links connecting the ground control station to the UAV. At the physical layer, CNPC design must cope with timeand frequency-selectivity (so-called double selectivity) of the wireless channel, due to lowaltitude operation and flight dynamics of the UAV. In this paper, we consider the transmission of continuous phase modulated (CPM) signals for UAV CNPC links operating over doubly-selective channels. Leveraging on the Laurent representation for a CPM signal, we design a two-stage receiver: the first one is a linear time-varying (LTV) equalizer, synthesized under either the zero-forcing (ZF) or minimum mean-square error (MMSE) criterion; the second one recovers the transmitted symbols from the pseudo-symbols of the Laurent representation in a simple recursive manner. In addition to LTV-ZF and LTV-MMSE equalizers, their widely-linear versions are also developed, to take into account the possible noncircular features of the CPM signal. Moreover, relying on a basis expansion model of the doubly-selective channel, we derive frequencyshift versions of the proposed equalizers, by discussing their complexity issues and proposing simplified implementations. Monte Carlo numerical simulations show that the proposed receiving structures are able to satisfactorily equalize the doubly-selective channel in typical UAV scenarios.
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