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1© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
The Hilbert Transform
David Hilbert
ABSTRACT: In this presentation, the basic theoretical background of the Hilbert Transform is introduced. Using this transform, normal real-valued time domain functions are made complex. This yields two useful properties - the Envelope and the Instantaneous Frequency. Examples of the practical use of these functions are demonstrated, with emphasis on acoustical applications.
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2© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Overview• Definition
– Time Domain– Frequency Domain
• Analytic Signals– Simple Example
• Applications• MatLab Usage
– Example: Muting Time• Conclusion
Overview of topics covered.
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3© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Hilbert TransformWhat is it?
• Time Domain:λ/4 shift for all frequencies
• Frequency Domain:-90° phase shift for all spectral components
The Hilbert Transform does not change domains. A Time Domain Function remains in the Time Domain and a Frequency Domain Function remains in the Frequency Domain. The effect is similar to an integration.
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6© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Hilbert Transform
tta
dt
atataH
1)(1
1)(1)(~)]([
∗=
−== ∫
∞
∞−
π
ττ
τπ
The Hilbert Transform in the Time Domain can be written as a convolution.
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7© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Even & Odd Functions
Even
Odd
A causal time signal shown as a sum of an even signal and an odd signal
A few tools to understand the Hilbert Transform with a minimum of mathematics.
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8© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Fourier Transform Relationships
R Odd, X EvenImaginary
R Even, X OddReal
Imaginary and OddReal and Odd
Real and EvenReal and Even
a(t) F A(f) = R(f) + jX(f)
From the Symmetry Property of the Fourier Transform: F{F{a(t)}} = a(-t).
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9© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
“Sign” Function
Multiplication by sgn(x) changes an even function to odd and vice-versa
The Fourier Transform of the sgn(x) function is 1/X.
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10© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Frequency Domain
- 90° (-j) for positive frequencies+90° (j) for negative frequencies
)sgn()()](~[ fjfAtaF ⋅−≡
Using these tools, we can write the Hilbert Transform in the Frequency Domain as shown.
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11© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Effect of Hilbert Transform
Effect of the Hilbert Transform in the Frequency Domain.
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12© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Hilbert Transform of a Sinusoid
Successive Hilbert Transforms of a sinusoid.
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13© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Analytic Signal
)t(je)t(a
)t(a~j)t(a)t(a
θ⋅=
+≡∇
∇
Definition of an Analytic Signal and the Envelope Function. The spectrum of the Analytic signal is is one-sided (positive only) and positive valued.
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14© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Analytic Signal - Descriptors
)t(a~)t(a)t(a 22 +=∇
)t(a)t(a~tan)t( 1−=θ
Magnitude
td)t(d
21)t(fi
θπ
=
Instantaneous Phase
Instantaneous Frequency
Additional signal descriptors available from the Hilbert Transform and Analytic Signal.
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15© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Analytic Signal - Example
0i f)t(f =
tf2)t( 0πθ =
1)t(a =∇
tf2cos)t(a 0π=
tf2sin)t(a~ 0π=
Magnitude
Real
Imaginary
Phase
InstantaneousFrequency
Example.
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16© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Analytic Signal
Sinusoidal Analytic Signal shown as a “Heyser Spiral”. The Nyquist Plot is the projection along the time axis. The Real and Imaginary parts are the projections along the real and imaginary axes, respectively.
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17© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Time-Frequency Relationships
Magnitude Real
Phase Imaginary
H F
MagnitudeReal
PhaseImaginary
H †
Time Response h(t) Frequency Response H(f)
InstantaneousFrequency
Group Delaydtd df
d
Time & Frequency relationships of the various descriptors for a causal two-port system response function.
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18© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Envelope Extraction
Application of the Hilbert Transform to Envelope extraction.
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19© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Decay Time Estimation (τ ,T60)Exponentially Decaying SinusoidMagnitude of Analytic SignalLog Magnitude Scale
Application of the Hilbert Transform to Envelope extraction and decay time estimation, RT60 or RC LC circuit time constant, etc. The positive-valued magnitude function can be graphed on a log amplitude scale, enabling a far wider dynamic range than for a real-valued time signal.
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20© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Propagation Delay / Signal Arrival Estimation
Real Time SignalHilbert Transform of SignalMagnitude of Analytic Signal - Peak indicates arrival time
Application of the Hilbert Transform to Envelope to acoustic signal propagation time estimation.
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21© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Practical Example
d = τ ·cτ = d/c
Source
Microphone
c = 344 m/sd = 1 mτ = 2.92 ms
Example: Loudspeaker at 1 metre.
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22© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Loudspeaker Measurement
“Energy-Time Curve” (ETC)
Resulting response without windowing, shown as magnitude in both the Time and Frequency Domains.
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23© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
All-Pass / Minimum Phase System Separation
))f()f((jPassAllmin
PassAllmine)f(A)f(A)f(H φφ +⋅⋅=
[ ]min1
min )(ln)( fAHf -=φ
))f()f((jmin
PassAllmine)f(A φφ +⋅=
For a minimum Phase system, it can be shown that the phase is not independent of the magnitude, but an be derived using the Hilbert Transform as shown. The All-Pass function has poles and zeroes that are negative conjugates of one-another, so the magnitude is unity. The phase of the All-Pass is a pure delay.
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24© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
MatLab Usage
Y = HILBERT(X) computes the so-called discrete-time analytic signal
Y = Re { X } + j ·
where is the Hilbert transform of the vector Re { X }.
X~
X~
Example: Mute Analysis
The HILBERT function in MATLAB.
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25© Copyright 2007 CJS Labs – San Francisco, CA USA – www.cjs-labs.com Email: [email protected]
Use of the Hilbert Transform:• Allows definition of the analytic signal from a
real-valued time signal:– The Real Part is the original time signal– The Imaginary Part is the Hilbert Transform
• This enables calculation of the envelope(magnitude) of a time signal
• Applications:– Envelope Extraction / Magnitude Estimation– Decay Time Estimation: RT60, τ– Propagation Delay & Signal Arrival Measurements– All-Pass / Minimum Phase System Separation
Conclusion
Conclusion.