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A new improved group space-time block code (G-STBC) based on constellation rotation for four transmit antennas was proposed. In comparison with the traditional G-STBC coding scheme, the proposed space-time code has longer code length and adopts proper rotation-based symbols, which can increase the minimum distance of space-time codes and thereby improve code gain and achieve full diversity performance. The simulation results verify that the proposed group space-time code can achieve better bit error performance than both the traditional group space-time code and other quasi-orthogonal space-time codes. Compared with Ma’s full diversity full rate (FDFR) codes, the proposed space-time code also can achieve the same excellent error performance. Furthermore, the design of the new space-time code gives another new and simple method to construct space-time codes with full diversity and high rate in case that it is not easy to design the traditional FDFR space-time codes.