I. Introduction
Continuous phase modulation (CPM) is a digital modulation format that keeps a constant envelope while presenting high spectral efficiency by smoothing the phase transitions [1]. The interest and efficiency of CPM techniques has been confirmed by industrial communications standards. For example, Bluetooth uses GFSK [2], MILSTD-188-181B for voice-over-satellite communications [3] uses dual-h CPM and IRIG-106-15 for aeronautical telemetry [4] employs SOQPSK-TG. More recently, CPM has emerged as an alternative modulation scheme for resolving problems in GPS codes [5], [6] and for future satellite broadcasting [7]–[9].