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 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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