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In this paper, we derive for the first time analytical expressions for the exact Cramér-Rao lower bounds (CRLB) for symbol timing recovery of binary phase shift keying (BPSK), minimum shift keying (MSK), and square QAM-modulated signals. It is assumed that the transmitted data are completely unknown at the receiver and that the shaping pulse verifies the first Nyquist criterion. Moreover the carrier...
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