Minimum shift keying (MSK) shows better bandwidth efficiency than the phase shift keying owing to its high bandwidth usage efficiency and constant envelope property. The performance of frequency-domain block linear equalization (FD-BLE), which is commonly used for MSK communication, is limited in complex time-varying underwater acoustic (UWA) channel. In this paper, a time-domain adaptive decision feedback equalization (TD-ADFE) is proposed to address issues pertaining to MSK communications over UWA channel. Further joint time–frequency domain equalization (JTFDE) built on TD-ADFE and BLE is proposed to further reduce the bit error rate (BER). The proposed method can effectively track the time-varying UWA channel through the updated equalizer coefficient according to the output of de-mapper. Numerical simulation shows that the JTFDE performed better than TD-ADFE and FD-BLE over time-varying UWA channel by approximately 2 dB when the BER was 1 × 10−3.The sea trial results verified the proposed JTFDE and demonstrated that the BER of JTFDE was 82.5% and 88.9% lower than that of TD-ADFE and FD-BLE, respectively.
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