A transmitter includes an encoding module, an adaptive hierarchical signal mapping module and a transceiver module. The encoding module receives an input signal and encodes the input signal. The input signal includes data to be transmitted. The adaptive hierarchical signal mapping module modulates the encoded signal according to one or more hierarchical level distance ratios to obtain modulated symbols. The hierarchical level distance ratio defines distances between the modulated symbols. The transceiver module generates a radio frequency signal according to the modulated symbols and transmits the radio frequency signal to an air interface.