Fourier transform
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The Fourier transform (English pronunciation: /ˈfʊrieɪ/), named after Joseph Fourier, is a mathematical transformation employed to transform signals between time (or spatial) domain and frequency domain, which has many applications in physics and engineering. It is reversible, being able to transform from either domain to the other. The term itself refers to both the transform operation and to the function it produces.
In the case of a periodic function over time (for example, a continuous but not necessarily sinusoidal musical sound), the Fourier transform can be simplified to the calculation of a discrete set of complex amplitudes, called Fourier series coefficients. They represent the frequency spectrum of the original time-domain signal. Also, when a time-domain function is sampled to facilitate storage or computer-processing, it is still possible to recreate a version of the original Fourier transform according to the Poisson summation formula, also known as the discrete-time Fourier transform. See also Fourier analysis and List of Fourier-related transforms.
Definition
There are several common conventions for defining the Fourier transform, for any real number ξ.
, for any real number x.
For other common conventions and notations, including using the angular frequency ω instead of the frequency ξ, see Other conventions and Other notations below. The Fourier transform on Euclidean space is treated separately, in which the variable x often represents position and ξ momentum.
Introduction
In the first frames of the animation, a function f
is resolved into Fourier series: a linear combination of sines and
cosines (in blue). The component frequencies of these sines and cosines
spread across the frequency spectrum, are represented as peaks in the
frequency domain (actually Dirac delta functions, shown in the last frames of the animation). The frequency domain representation of the function,
, is the collection of these peaks at the frequencies that appear in this resolution of the function.
The motivation for the Fourier transform comes from the study of Fourier series. In the study of Fourier series, complicated but periodic functions are written as the sum of simple waves mathematically represented by sines and cosines. The Fourier transform is an extension of the Fourier series that results when the period of the represented function is lengthened and allowed to approach infinity (Taneja 2008, p. 192).
Due to the properties of sine and cosine, it is possible to recover the amplitude of each wave in a Fourier series using an integral. In many cases it is desirable to use Euler's formula, which states that e2πiθ = cos(2πθ) + i sin(2πθ), to write Fourier series in terms of the basic waves e2πiθ. This has the advantage of simplifying many of the formulas involved, and provides a formulation for Fourier series that more closely resembles the definition followed in this article. Re-writing sines and cosines as complex exponentials makes it necessary for the Fourier coefficients to be complex valued. The usual interpretation of this complex number is that it gives both the amplitude (or size) of the wave present in the function and the phase (or the initial angle) of the wave. These complex exponentials sometimes contain negative "frequencies". If θ is measured in seconds, then the waves e2πiθ and e−2πiθ both complete one cycle per second, but they represent different frequencies in the Fourier transform. Hence, frequency no longer measures the number of cycles per unit time, but is still closely related.
There is a close connection between the definition of Fourier series and the Fourier transform for functions f which are zero outside of an interval. For such a function, we can calculate its Fourier series on any interval that includes the points where f is not identically zero. The Fourier transform is also defined for such a function. As we increase the length of the interval on which we calculate the Fourier series, then the Fourier series coefficients begin to look like the Fourier transform and the sum of the Fourier series of f begins to look like the inverse Fourier transform. To explain this more precisely, suppose that T is large enough so that the interval [−T/2, T/2] contains the interval on which f is not identically zero. Then the n-th series coefficient cn is given by:
Under appropriate conditions, the Fourier series of f will equal the function f. In other words, f can be written:
This second sum is a Riemann sum, and so by letting T → ∞ it will converge to the integral for the inverse Fourier transform given in the definition section. Under suitable conditions this argument may be made precise (Stein & Shakarchi 2003).
In the study of Fourier series the numbers cn could be thought of as the "amount" of the wave present in the Fourier series of f. Similarly, as seen above, the Fourier transform can be thought of as a function that measures how much of each individual frequency is present in our function f, and we can recombine these waves by using an integral (or "continuous sum") to reproduce the original function.
Example
The following images provide a visual illustration of how the Fourier transform measures whether a frequency is present in a particular function. The function depicted f(t) = cos(6πt) e−πt2 oscillates at 3 hertz (if t measures seconds) and tends quickly to 0. (The second factor in this equation is an envelope function that shapes the continuous sinusoid into a short pulse. Its general form is a Gaussian function). This function was specially chosen to have a real Fourier transform which can easily be plotted. The first image contains its graph. In order to calculateProperties of the Fourier transform
Here we assume f(x), g(x) and h(x) are integrable functions, are Lebesgue-measurable on the real line, and satisfy:Basic properties
The Fourier transform has the following basic properties: (Pinsky 2002).- Linearity
- For any complex numbers a and b, if h(x) = af(x) + bg(x), then
- Translation
- For any real number x0, if
then
- Modulation
- For any real number ξ0 if
then
- Scaling
- For a non-zero real number a, if h(x) = f(ax), then
The case a = −1 leads to the time-reversal property, which states: if h(x) = f(−x), then
- If
then
- In particular, if f is real, then one has the reality condition
, that is,
is a Hermitian function.
- And if f is purely imaginary, then
- Integration
- Substituting
in the definition, we obtain
Invertibility and periodicity
Under suitable conditions on the function f, it can be recovered from its Fourier transformMore precisely, defining the parity operator
This four-fold periodicity of the Fourier transform is similar to a rotation of the plane by 90°, particularly as the two-fold iteration yields a reversal, and in fact this analogy can be made precise. While the Fourier transform can simply be interpreted as switching the time domain and the frequency domain, with the inverse Fourier transform switching them back, more geometrically it can be interpreted as a rotation by 90° in the time–frequency domain (considering time as the x-axis and frequency as the y-axis), and the Fourier transform can be generalized to the fractional Fourier transform, which involves rotations by other angles. This can be further generalized to linear canonical transformations, which can be visualized as the action of the special linear group SL2(R) on the time–frequency plane, with the preserved symplectic form corresponding to the uncertainty principle, below. This approach is particularly studied in signal processing, under time–frequency analysis.
Uniform continuity and the Riemann–Lebesgue lemma
The sinc function, which is the Fourier transform of the rectangular function, is bounded and continuous, but not Lebesgue integrable.
The Fourier transform may be defined in some cases for non-integrable functions, but the Fourier transforms of integrable functions have several strong properties.
The Fourier transform,
It is not generally possible to write the inverse transform as a Lebesgue integral. However, when both f and
Plancherel theorem and Parseval's theorem
Let f(x) and g(x) be integrable, and letThe Plancherel theorem, which is equivalent to Parseval's theorem, states (Rudin 1987, p. 186):
See Pontryagin duality for a general formulation of this concept in the context of locally compact abelian groups.
Poisson summation formula
The Poisson summation formula (PSF) is an equation that relates the Fourier series coefficients of the periodic summation of a function to values of the function's continuous Fourier transform. It has a variety of useful forms that are derived from the basic one by application of the Fourier transform's scaling and time-shifting properties. The frequency-domain dual of the standard PSF is also called discrete-time Fourier transform, which leads directly to:- a popular, graphical, frequency-domain representation of the phenomenon of aliasing, and
- a proof of the Nyquist-Shannon sampling theorem.
Convolution theorem
The Fourier transform translates between convolution and multiplication of functions. If f(x) and g(x) are integrable functions with Fourier transformsThis means that if:
Conversely, if f(x) can be decomposed as the product of two square integrable functions p(x) and q(x), then the Fourier transform of f(x) is given by the convolution of the respective Fourier transforms
Cross-correlation theorem
In an analogous manner, it can be shown that if h(x) is the cross-correlation of f(x) and g(x):Eigenfunctions
One important choice of an orthonormal basis for L2(R) is given by the Hermite functions.
There are only four different eigenvalues of the Fourier transform (±1 and ±i) and any linear combination of eigenfunctions with the same eigenvalue gives another eigenfunction. As a consequence of this, it is possible to decompose L2(R) as a direct sum of four spaces H0, H1, H2, and H3 where the Fourier transform acts on Hek simply by multiplication by ik.
Since the complete set of Hermite functions provides a resolution of the identity, the Fourier transform can be represented by such a sum of terms weighted by the above eigenvalues, and these sums can be explicitly summed. This approach to define the Fourier transform was first done by Norbert Wiener (Duoandikoetxea 2001). Among other properties, Hermite functions decrease exponentially fast in both frequency and time domains, and they are thus used to define a generalization of the Fourier transform, namely the fractional Fourier transform used in time-frequency analysis (Boashash 2003). In physics, this transform was introduced by Edward Condon (Condon 1937).
Fourier transform on Euclidean space
The Fourier transform can be defined in any arbitrary number of dimensions n. As with the one-dimensional case, there are many conventions. For an integrable function f(x), this article takes the definition:All of the basic properties listed above hold for the n-dimensional Fourier transform, as do Plancherel's and Parseval's theorem. When the function is integrable, the Fourier transform is still uniformly continuous and the Riemann–Lebesgue lemma holds. (Stein & Weiss 1971)
Uncertainty principle
Generally speaking, the more concentrated f(x) is, the more spread out its Fourier transformThe trade-off between the compaction of a function and its Fourier transform can be formalized in the form of an uncertainty principle by viewing a function and its Fourier transform as conjugate variables with respect to the symplectic form on the time–frequency domain: from the point of view of the linear canonical transformation, the Fourier transform is rotation by 90° in the time–frequency domain, and preserves the symplectic form.
Suppose f(x) is an integrable and square-integrable function. Without loss of generality, assume that f(x) is normalized:
The spread around x = 0 may be measured by the dispersion about zero (Pinsky 2002, p. 131) defined by
The Uncertainty principle states that, if f(x) is absolutely continuous and the functions x·f(x) and f′(x) are square integrable, then
(Pinsky 2002).
In fact, this inequality implies that:
In quantum mechanics, the momentum and position wave functions are Fourier transform pairs, to within a factor of Planck's constant. With this constant properly taken into account, the inequality above becomes the statement of the Heisenberg uncertainty principle (Stein & Shakarchi 2003, p. 158).
A stronger uncertainty principle is the Hirschman uncertainty principle which is expressed as:
Spherical harmonics
Let the set of homogeneous harmonic polynomials of degree k on Rn be denoted by Ak. The set Ak consists of the solid spherical harmonics of degree k. The solid spherical harmonics play a similar role in higher dimensions to the Hermite polynomials in dimension one. Specifically, if f(x) = e−π|x|2P(x) for some P(x) in Ak, thenRestriction problems
In higher dimensions it becomes interesting to study restriction problems for the Fourier transform.The Fourier transform of an integrable function is continuous and the restriction of this function to any set is defined. But for a square-integrable function the Fourier transform could be a general class of square integrable functions. As such, the restriction of the Fourier transform of an L2(Rn) function cannot be defined on sets of measure 0. It is still an active area of study to understand restriction problems in Lp for 1 < p < 2. Surprisingly, it is possible in some cases to define the restriction of a Fourier transform to a set S, provided S has non-zero curvature. The case when S is the unit sphere in Rn is of particular interest. In this case the Tomas-Stein restriction theorem states that the restriction of the Fourier transform to the unit sphere in Rn is a bounded operator on Lp provided 1 ≤ p ≤ (2n + 2) / (n + 3).
One notable difference between the Fourier transform in 1 dimension versus higher dimensions concerns the partial sum operator. Consider an increasing collection of measurable sets ER indexed by R ∈ (0,∞): such as balls of radius R centered at the origin, or cubes of side 2R. For a given integrable function f, consider the function fR defined by:
Fourier transform on function spaces
On Lp spaces
- On L1
The Fourier transform
- On L2
Furthermore
- On other Lp
Tempered distributions
One might consider enlarging the domain of the Fourier transform from L1+L2 by considering generalized functions, or distributions. A distribution on Rn is a continuous linear functional on the space Cc(Rn) of compactly supported smooth functions, equipped with a suitable topology. The strategy is then to consider the action of the Fourier transform on Cc(Rn) and pass to distributions by duality. The obstruction to do this is that the Fourier transform does not map Cc(Rn) to Cc(Rn). In fact the Fourier transform of an element in Cc(Rn) can not vanish on an open set; see the above discussion on the uncertainty principle. The right space here is the slightly larger space of Schwartz functions.The Fourier transform is an automorphism on the Schwartz space, as a topological vector space, and thus induces an automorphism on its dual, the space of tempered distributions(Stein & Weiss 1971). The tempered distribution include all the integrable functions mentioned above, as well as well-behaved functions of polynomial growth and distributions of compact support.
For the definition of the Fourier transform of a tempered distribution, let f and g be integrable functions, and let
for all Schwartz functions φ.
Distributions can be differentiated and the above-mentioned compatibility of the Fourier transform with differentiation and convolution remains true for tempered distributions.
Generalizations
Fourier–Stieltjes transform
The Fourier transform of a finite Borel measure μ on Rn is given by (Pinsky 2002, p. 256):The Fourier transform may be used to give a characterization of measures. Bochner's theorem characterizes which functions may arise as the Fourier–Stieltjes transform of a positive measure on the circle (Katznelson 1976).
Furthermore, the Dirac delta function is not a function but it is a finite Borel measure. Its Fourier transform is a constant function (whose specific value depends upon the form of the Fourier transform used).
Locally compact abelian groups
The Fourier transform may be generalized to any locally compact abelian group. A locally compact abelian group is an abelian group which is at the same time a locally compact Hausdorff topological space so that the group operation is continuous. If G is a locally compact abelian group, it has a translation invariant measure μ, called Haar measure. For a locally compact abelian group G, the set of irreducible, i.e. one-dimensional, unitary representations are called its characters. With its natural group structure and the topology of pointwise convergence, the set of charactersGelfand transform
The Fourier transform is also a special case of Gelfand transform. In this particular context, it is closely related to the Pontryagin duality map defined above.Given an abelian locally compact Hausdorff topological group G, as before we consider space L1(G), defined using a Haar measure. With convolution as multiplication, L1(G) is an abelian Banach algebra. It also has an involution * given by
Given any abelian C*-algebra A, the Gelfand transform gives an isomorphism between A and C0(A^), where A^ is the multiplicative linear functionals, i.e. one-dimensional representations, on A with the weak-* topology. The map is simply given by
Non-abelian groups
The Fourier transform can also be defined for functions on a non-abelian group, provided that the group is compact. Removing the assumption that the underlying group is abelian, irreducible unitary representations need not always be one-dimensional. This means the Fourier transform on a non-abelian group takes values as Hilbert space operators (Hewitt & Ross 1970, Chapter 8). TheFourier transform on compact groups is a major tool in representation theory (Knapp 2001) and non-commutative harmonic analysis.
Let G be a compact Hausdorff topological group. Let Σ denote the collection of all isomorphism classes of finite-dimensional irreducible unitary representations, along with a definite choice of representation U(σ) on the Hilbert space Hσ of finite dimension dσ for each σ ∈ Σ. If μ is a finite Borel measure on G, then the Fourier–Stieltjes transform of μ is the operator on Hσ defined by
The mapping
The Peter–Weyl theorem holds, and a version of the Fourier inversion formula (Plancherel's theorem) follows: if f ∈ L2(G), then
The generalization of the Fourier transform to the noncommutative situation has also in part contributed to the development of noncommutative geometry.[citation needed] In this context, a categorical generalization of the Fourier transform to noncommutative groups is Tannaka–Krein duality, which replaces the group of characters with the category of representations. However, this loses the connection with harmonic functions.
Alternatives
In signal processing terms, a function (of time) is a representation of a signal with perfect time resolution, but no frequency information, while the Fourier transform has perfect frequency resolution, but no time information: the magnitude of the Fourier transform at a point is how much frequency content there is, but location is only given by phase (argument of the Fourier transform at a point), and standing waves are not localized in time – a sine wave continues out to infinity, without decaying. This limits the usefulness of the Fourier transform for analyzing signals that are localized in time, notably transients, or any signal of finite extent.As alternatives to the Fourier transform, in time-frequency analysis, one uses time-frequency transforms or time-frequency distributions to represent signals in a form that has some time information and some frequency information – by the uncertainty principle, there is a trade-off between these. These can be generalizations of the Fourier transform, such as the short-time Fourier transform or fractional Fourier transform, or other functions to represent signals, as in wavelet transforms and chirplet transforms, with the wavelet analog of the (continuous) Fourier transform being the continuous wavelet transform. (Boashash 2003).
Applications
Analysis of differential equations
Fourier transforms and the closely related Laplace transforms are widely used in solving differential equations. The Fourier transform is compatible with differentiation in the following sense: if f(x) is a differentiable function with Fourier transformFourier transform spectroscopy
The Fourier transform is also used in nuclear magnetic resonance (NMR) and in other kinds of spectroscopy, e.g. infrared (FTIR). In NMR an exponentially shaped free induction decay (FID) signal is acquired in the time domain and Fourier-transformed to a Lorentzian line-shape in the frequency domain. The Fourier transform is also used in magnetic resonance imaging (MRI) and mass spectrometry.Quantum mechanics and signal processing
In quantum mechanics, Fourier transforms of solutions to the Schrödinger equation are known as momentum space (or k space) wave functions. They display the amplitudes for momenta. Their absolute square is the probabilities of momenta. This is valid also for classical waves treated in signal processing, such as in swept frequency radar where data is taken in frequency domain and transformed to time domain, yielding range. The absolute square is then the power.Other notations
Other common notations forThe interpretation of the complex function
Then the inverse transform can be written:
The Fourier transform may be thought of as a mapping on function spaces. This mapping is here denoted
In mathematics and various applied sciences, it is often necessary to distinguish between a function f and the value of f when its variable equals x, denoted f(x). This means that a notation like
For example,
or
Notice, that the last example is only correct under the assumption that the transformed function is a function of x, not of x0.
Other conventions
The Fourier transform can also be written in terms of angular frequency: ω = 2πξ whose units are radians per second.The substitution ξ = ω/(2π) into the formulas above produces this convention:
Another convention is to split the factor of (2π)n evenly between the Fourier transform and its inverse, which leads to definitions:
Variations of all three conventions can be created by conjugating the complex-exponential kernel of both the forward and the reverse transform. The signs must be opposites. Other than that, the choice is (again) a matter of convention.
ordinary frequency ξ (hertz) | unitary | |
---|---|---|
angular frequency ω (rad/s) | non-unitary | |
unitary |
As discussed above, the characteristic function of a random variable is the same as the Fourier–Stieltjes transform of its distribution measure, but in this context it is typical to take a different convention for the constants. Typically characteristic function is defined
As in the case of the "non-unitary angular frequency" convention above, there is no factor of 2π appearing in either of the integral, or in the exponential. Unlike any of the conventions appearing above, this convention takes the opposite sign in the exponential.
Tables of important Fourier transforms
The following tables record some closed-form Fourier transforms. For functions f(x), g(x) and h(x) denote their Fourier transforms byFunctional relationships
The Fourier transforms in this table may be found in Erdélyi (1954) or Kammler (2000, appendix).Function | Fourier transform unitary, ordinary frequency |
Fourier transform unitary, angular frequency |
Fourier transform non-unitary, angular frequency |
Remarks | |
---|---|---|---|---|---|
Definition | |||||
101 | Linearity | ||||
102 | Shift in time domain | ||||
103 | Shift in frequency domain, dual of 102 | ||||
104 | Scaling in the time domain. If |
||||
105 | Duality. Here |
||||
106 | |||||
107 | This is the dual of 106 | ||||
108 | The notation |
||||
109 | This is the dual of 108 | ||||
110 | For |
Hermitian symmetry. |
|||
111 | For |
||||
112 | For |
||||
113 | Complex conjugation, generalization of 110 |
Square-integrable functions
The Fourier transforms in this table may be found in (Campbell & Foster 1948), (Erdélyi 1954), or the appendix of (Kammler 2000).Function | Fourier transform unitary, ordinary frequency |
Fourier transform unitary, angular frequency |
Fourier transform non-unitary, angular frequency |
Remarks | |
---|---|---|---|---|---|
201 | The rectangular pulse and the normalized sinc function, here defined as sinc(x) = sin(πx)/(πx) | ||||
202 | Dual of rule 201. The rectangular function is an ideal low-pass filter, and the sinc function is the non-causal impulse response of such a filter. The sinc function is defined here as sinc(x) = sin(πx)/(πx) | ||||
203 | The function tri(x) is the triangular function | ||||
204 | Dual of rule 203. | ||||
205 | The function u(x) is the Heaviside unit step function and a>0. | ||||
206 | This shows that, for the unitary Fourier transforms, the Gaussian function exp(−αx2) is its own Fourier transform for some choice of α. For this to be integrable we must have Re(α)>0. | ||||
207 | For a>0. That is, the Fourier transform of a decaying exponential function is a Lorentzian function. | ||||
208 | Hyperbolic secant is its own Fourier transform | ||||
209 |
Distributions
The Fourier transforms in this table may be found in (Erdélyi 1954) or the appendix of (Kammler 2000).Function | Fourier transform unitary, ordinary frequency |
Fourier transform unitary, angular frequency |
Fourier transform non-unitary, angular frequency |
Remarks | |
---|---|---|---|---|---|
301 | The distribution δ(ξ) denotes the Dirac delta function. | ||||
302 | Dual of rule 301. | ||||
303 | This follows from 103 and 301. | ||||
304 | This follows from rules 101 and 303 using Euler's formula: |
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305 | This follows from 101 and 303 using |
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306 | |||||
307 | |||||
308 | Here, n is a natural number and |
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309 | Here sgn(ξ) is the sign function. Note that 1/x is not a distribution. It is necessary to use the Cauchy principal value when testing against Schwartz functions. This rule is useful in studying the Hilbert transform. | ||||
310 | 1/xn is the homogeneous distribution defined by the distributional derivative |
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311 | This formula is valid for 0 > α > −1. For α > 0 some
singular terms arise at the origin that can be found by differentiating
318. If Re α > −1, then |
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312 | The dual of rule 309. This time the Fourier transforms need to be considered as Cauchy principal value. | ||||
313 | The function u(x) is the Heaviside unit step function; this follows from rules 101, 301, and 312. | ||||
314 | This function is known as the Dirac comb function. This result can be derived from 302 and 102, together with the fact that |
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315 | The function J0(x) is the zeroth order Bessel function of first kind. | ||||
316 | This is a generalization of 315. The function Jn(x) is the n-th order Bessel function of first kind. The function Tn(x) is the Chebyshev polynomial of the first kind. | ||||
317 | |||||
318 | This formula is valid for 1 > α > 0. Use differentiation to derive formula for higher exponents. u is the Heaviside function. |
Two-dimensional functions
Function | Fourier transform unitary, ordinary frequency |
Fourier transform unitary, angular frequency |
Fourier transform non-unitary, angular frequency |
|
---|---|---|---|---|
400 | ||||
401 | ||||
402 |
- Remarks
To 401: Both functions are Gaussians, which may not have unit volume.
To 402: The function is defined by circ(r)=1 0≤r≤1, and is 0 otherwise. This is the Airy distribution, and is expressed using J1 (the order 1 Bessel function of the first kind). (Stein & Weiss 1971, Thm. IV.3.3)
Formulas for general n-dimensional functions
Function | Fourier transform unitary, ordinary frequency |
Fourier transform unitary, angular frequency |
Fourier transform non-unitary, angular frequency |
|
---|---|---|---|---|
500 | ||||
501 | ||||
502 | ||||
503 | ||||
504 |
- Remarks
To 502: See Riesz potential. The formula also holds for all α ≠ −n, −n − 1, … by analytic continuation, but then the function and its Fourier transforms need to be understood as suitably regularized tempered distributions. See homogeneous distribution.
To 503: This is the formula for a multivariate normal distribution normalized to 1 with a mean of 0. Bold variables are vectors or matrices. Following the notation of the aforementioned page,
To 504: Here