This paper studies the error rate performance and low-complexity receiver design for zero-padded affine frequency division multiplexing (ZP-AFDM) systems. By exploiting the unique ZP-aided lower triangular structure of the time domain (TD) channel matrix, we propose a novel low-complexity minimum mean square error (MMSE) detector and a maximum ratio combining-based TD (MRC-TD) detector. Furthermore, the theoretical bit error rate (BER) performance of both the MMSE and maximum likelihood detectors is analyzed. Simulation results demonstrate that the proposed detectors can achieve identical BER performance to that of the conventional MMSE detector based on matrix inversion while enjoying significantly reduced complexity.

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