In signal processing applications, one frequently encounters the problem of estimating the frequency of a complex sinusoid embedded in noise. For example, a DSP engineer will encounter this problem in the delayed echo of an FMCW radar that directly translates into target range, or in carrier frequency estimation of a wireless communication system after timing synchronization has already been achieved (see Chapter 6 for details of how modulation removal exposes the underlying complex sinusoid). Beyond communications and radar, this frequency estimation is also heavily relied upon in digital pitch tracking, speech synthesis, active and passive sonar detection, Doppler ultrasound and
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