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The authors propose a new hidden pilot scheme equipped with precoding and its application to orthogonal frequency division multiplexing-ultra-wideband (OFDM-UWB) systems. The proposed scheme can be thought of as an improvement over conventional hidden pilot schemes. By carefully designing precoder and hidden pilot from the view point of frequency diversity, channel estimation and the peak-to-average power ratio (PAPR), more frequency diversity gain and reduced PAPR can be achieved. In addition, the authors can support more pilots to estimate a channel providing mitigated self-interference between data symbol and hidden pilot with almost no loss of bandwidth efficiency in OFDM-based UWB communication systems. The authors show improved performance of the proposed scheme over the multiband OFDM scheme through simulations in a realistic UWB channel environment.