We analyze the error performance of two-hop relay networks adopting frequency shift keying (FSK) over frequency flat Rayleigh fading channels. It is assumed that relay networks consist of a source, a relay, and a destination without a direct path signal from the source to the destination and the relay adopts the amplify-and-forward protocol with a fixed gain. Firstly, considering imperfect frequency and phase synchronization, we obtain the exact error probability expressions for noncoherent and coherent binary FSK (BFSK). Secondly, assuming perfect frequency and phase synchronization, we derive a closed-form error probability approximation for coherent M-ary FSK (MFSK). The proposed methods can also be used for the error performance analysis of classical one-hop FSK systems with perfect/imperfect frequency and phase synchronization. The obtained error probability expressions will help the design of two-hop relay networks adopting FSK in determining the system parameters such as the transmission power at the source, the amplifying coefficient at the relay, and the maximum affordable frequency and phase offsets to satisfy the required error performance.
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