A method of generating a phase modulated signal includes generating a sequence of phase modulated host symbols having continuous, antipodal phase transitions between adjacent ones of the host symbols representing different states, and generating a sequence of overlay symbols each spanning a respective set of the host symbols. The method further includes rotating the continuous, antipodal phase transitions between the adjacent ones of the host symbols in each set of the host symbols in a same rotation direction according to a symbol state of the respective overlay symbol spanning the set of the host symbols, and generating a phase modulated transmit signal that conveys the continuous, antipodal phase transitions rotated according to the symbol states of the overlay symbols. For M-ary PSK, the method further includes encoding both antipodal and non-antipodal host symbol phase shifts to carry the data of the overlay symbols.