This paper presents a non-orthogonal multiple access (NOMA) scheme with group detection for uplink multiple-input multiple-output (MIMO) systems, for which an effective precoder design is developed. In the scheme, users are divided into groups in accordance with their locations for detection at the base station. The inter- and intra-group interferences are mitigated by successive interference cancellation (SIC) and transceivers, respectively. Based on a derived approximate signal-to-interference-plus-noise ratio (SINR) for using zero-forcing detection, an iterative power and beamforming update procedure is developed for obtaining the user precoders. The precoder design effectively mitigates the intra-group-inter-user correlation making the adopted approximate SINR represent the original SINR accurately. The proposed multi-group MIMO-NOMA scheme can work under more practical transmit-receive antenna configurations and is shown to outperform upon existing cluster-based MIMO-NOMA schemes in terms of total transmit power for various system configurations. The impact of SIC residuals on the multi-group MIMO-NOMA scheme is investigated. Feasibility conditions for the design under imperfect SIC based on the fractional cancellation error model are developed.
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