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A new affine precoding and decoding method for multiple-input multiple-output (MIMO) frequency-selective fading channels is proposed. The optimal design of the affine precoder consists of a linear precoder and a training sequence, which is superimposed on the linearly precoded data in an orthogonal manner. The channel is estimated independently of the data, while the training sequence is completely nulled out in the source data detection. Furthermore, the optimal power allocation between the data and training signals is also analytically derived. Simulation results show that the proposed method is significantly better than other affine precoding methods with regard to source detection performance and computational complexity.