1 Introduction

Primordial gravitational waves, originated from quantized tensor modes of perturbed metric in the very early universe, are one of the most important predictions of cosmic inflation theory [1,2,3,4,5,6]. On large scales comparable to the whole scale of observable universe, imprints of primordial tensor perturbations on the cosmic microwave background (CMB) have been proposed before two decades [7,8,9,10], but have not been observed yet. Recent studies have established upper limits on the spectral amplitude of primordial tensor perturbations [11,12,13,14,15]. The tensor-to-scalar ratio has been shown to be less than 0.032 at the 95% confidence level, based on precise measurements of anisotropies and polarization in the CMB by the Planck satellite and BICEP/Keck Array [15].

Efforts have been made to detect primordial tensor perturbations on small scales, which are detectable by space-borne and ground-based gravitational-wave interferometers [16,17,18,19,20,21,22]. However, models of canonical single-field slow-roll inflation predict a red-tilted tensor spectrum, with the spectral index exhibiting a consistency relation of \(n_t=-r/8\) [23]. This makes it particularly challenging for these detectors to measure such a spectrum. Further, a blue-tilted tensor spectrum would imply a violation of the null-energy condition in the effective field theory of single-field inflation models [24,25,26]. To generate a blue-tilted tensor spectrum, additional assumptions, such as higher-derivative operators [27] and strong deviations from single-field slow-roll [28, 29], are necessarily involved.

Considering the absence of measurements of primordial tensor perturbations on large scales and the difficulties in generating a blue-tilted tensor spectrum on small scales, it is important to give serious consideration to any new mechanisms that can enhance the tensor spectral amplitude without requiring extraordinary assumptions.

Our proposal suggests that during the early universe, the linear scalar perturbations could have modulated the primordial tensor perturbations, resulting in the production of second-order tensor perturbations with a significantly blue-tilted power spectrum. This anticipated signal can potentially be detected by ongoing and planned ground-based detectors such as the Advanced LIGO, Virgo and KAGRA (LVK) [30,31,32], ET [33] and Cosmic Explorer (CE) [34]. Furthermore, scalar perturbations are believed to contribute to the formation of primordial black holes (PBHs), which are considered as a viable candidate for dark matter [35, 36]. Additionally, they are expected to produce scalar-induced gravitational waves, which can be detected by planned space-borne detectors such as the Laser Interferometer Space Antenna (LISA) [37, 38], big bang observer (BBO) [39, 40], or Deci-hertz Interferometer Gravitational wave Observatory (DECIGO) [41, 42]. If both the modulated primordial and scalar-induced gravitational waves are detected simultaneously, it would provide valuable insights into the mechanism of cosmic inflation and the nature of dark matter.

This paper investigates the theory of second-order tensor perturbations and the possible multi-band measurements of modulated primordial and scalar-induced gravitational waves using a future detector network consisting of the ground-based ET and the space-borne LISA. The main objective of this study is to achieve a high-precision measurement of the tensor-to-scalar ratio r with an accuracy of \(\Delta {r}\sim \mathcal {O}(10^{-4})\), based on a fiducial model with \(r=10^{-2}\) and a bumpy scalar power spectrum with amplitude \(\mathcal {A}_{\zeta }=10^{-3}\).

2 Primordial tensor perturbations modulated by cosmological scalar perturbations

The perturbed Friedman–Robertson–Walker metric in the Newtonian gauge is \(\textrm{d}s^{2} = a^{2}(\eta ) \{ -( 1+2\phi )\textrm{d}\eta ^{2} + [ (1-2\phi )\delta _{ij} + h_{ij} +\tilde{h}_{ij}/2 ] \textrm{d}x^{i}\textrm{d}x^{j} \}\), where \(a(\eta )\) is the scale factor at the conformal time \(\eta \), \(\tilde{h}_{ij}\) denotes the second-order tensor perturbation sourced by the linear scalar perturbation \(\phi \), and the linear tensor perturbation \(h_{ij}\). The scalar perturbation in Fourier space is given by \(\phi _{\textbf{k}}(\eta )=(2/3)\zeta _\textbf{k}T_{s}(k\eta )\), where \(\zeta _{\textbf{k}}\) is the initial comoving curvature perturbation with power spectrum \(\langle \zeta _{\textbf{k}}\zeta _{\textbf{k}^\prime }\rangle =(2\pi ^{2}/k^{3})\mathcal {P}_s(k)\delta (\textbf{k}+\textbf{k}^\prime )\), and the scalar transfer function during the radiation-dominated era is \(T_{s}(k\eta )=3(\sin {\frac{k\eta }{\sqrt{3}}}/\frac{k\eta }{\sqrt{3}}-\cos {\frac{k\eta }{\sqrt{3}}})/(\frac{k\eta }{\sqrt{3}})^{2}\) [43]. The tensor perturbation in Fourier space is decomposed into two components, i.e., \(h_{\textbf{k},ij}=h^{+}_{\textbf{k}}\epsilon ^+_{\textbf{k},ij}+h^{\times }_{\textbf{k}}\epsilon ^{\times }_{\textbf{k},ij}\), where the polarization tensors are defined as \( \epsilon ^+_{\textbf{k},ij} = ( e_i e_j - \overline{e}_i \overline{e}_j ) /\sqrt{2} \) and \( \epsilon ^\times _{\textbf{k},ij} = ( e_i \overline{e}_j + \overline{e}_i e_j ) /\sqrt{2} \) with \(e_{i}\) and \(\overline{e}_{i}\) being orthonormal vectors that are transverse to \(\textbf{k}\). It is given by \(h^{\lambda }_{\textbf{k}}(\eta )=H^{\lambda }_{\textbf{k}}T_{t}(k\eta )\ (\lambda =+,\times )\), where \(H^{\lambda }_{\textbf{k}}\) is the initial tensor perturbation with the power spectrum \(\langle H^{\lambda }_{\textbf{k}}H^{\lambda ^\prime }_{\textbf{k}^\prime } \rangle =(2\pi ^{2}/k^{3})\mathcal {P}_{t}(k)\delta ^{\lambda \lambda ^\prime }\delta (\textbf{k}+\textbf{k}^\prime )\) and the tensor transfer function is \(T_{t}(k\eta )=\sin (k\eta )/(k\eta )\) [43]. Similarly, we decompose the second-order tensor perturbation in Fourier space into two polarization components, and further decompose each component into three terms, i.e., \(\tilde{h}_{\textbf{k}}^{\lambda }=\tilde{h}_{\textbf{k}}^{\lambda }{}^{ss}+\tilde{h}_{\textbf{k}}^{\lambda }{}^{st}+\tilde{h}_{\textbf{k}}^{\lambda }{}^{tt}\), where the superscripts \({}^{s}\) and \({}^{t}\) stand for contributions from the linear scalar and tensor perturbations, respectively.

Expanding the Einstein field equations up to second order using the xPand [44] package, we derive the equation of motion for the second-order tensor perturbation. The evolution of \(\tilde{h}^{\lambda \alpha \beta }_{\textbf{k}}\) with \(\alpha \beta =ss,st,tt\) is governed by

$$\begin{aligned} \ddot{\tilde{h}}_{\textbf{k}}^{\lambda }{}^{\alpha \beta } + 2 \mathcal {H}\dot{\tilde{h}}_{\textbf{k}}^{\lambda }{}^{\alpha \beta } + k^2 \tilde{h}_{\textbf{k}}^{\lambda }{}^{\alpha \beta } = 4 \mathcal {S}_{\textbf{k}}^{\lambda }{}^{\alpha \beta }, \end{aligned}$$
(1)

where an overdot denotes a derivative with respect to \(\eta \), \(\mathcal {H}=\dot{a}/a\) is the comoving Hubble parameter, and \(\mathcal {S}_{\textbf{k}}^{\lambda }{}^{\alpha \beta }\), as formulated in Eqs. (A.1aA.1c), is the source term for \(\tilde{h}^{\lambda \alpha \beta }_{\textbf{k}}\).

We solve Eq. (1) with the Green’s function method and obtain \(\tilde{h}_{\textbf{k}}\propto \int ^{\eta }d\tilde{\eta }\sin (k\eta -k\tilde{\eta })[a(\tilde{\eta })/a(\eta )]\mathcal {S}_{\textbf{k}}(\tilde{\eta })\) [45, 46], where \(a(\eta )\propto \eta \) in the radiation-dominated universe. The power spectrum of gravitational waves is defined as the two-point correlation function, i.e.,

$$\begin{aligned} \langle \tilde{h}_\textbf{k}^{\lambda \alpha \beta } \tilde{h}_{\textbf{k}'}^{\lambda '\alpha \beta } \rangle = \frac{2\pi ^2}{k^3} \mathcal {P}^{\alpha \beta }_{\tilde{h}}(k)\ \delta ^{\lambda \lambda '} \delta (\textbf{k}+ \textbf{k}'), \end{aligned}$$
(2)

where \(\langle \ldots \rangle \) denotes the ensemble average. The dimensionless energy-density spectrum of the second-order tensor perturbations, i.e., the energy density per logarithmic frequency normalized with the critical energy density of the early universe, is given by [47]

$$\begin{aligned} \Omega _\textrm{gw}^{\alpha \beta }(\eta ,k) =\frac{1}{24} \left( \frac{k}{\mathcal {H}} \right) ^2 \overline{\mathcal {P}^{\alpha \beta }_{\tilde{h}}(\eta , k)}, \end{aligned}$$
(3)

where the overbar denotes the oscillation average and the two polarization modes have been summed over. After tedious but straightforward calculations, we obtain

$$\begin{aligned} \Omega _\textrm{gw}^{\alpha \beta }(\eta ,k) = \int _0^{\infty } \textrm{d}u \int _{|1-u |} ^{|1+u |} \textrm{d}v \ \{\ldots \}_{\alpha \beta } \mathcal {P}_{\alpha }(uk) \mathcal {P}_{\beta }(vk),\nonumber \\ \end{aligned}$$
(4)

where \(\{\ldots \}_{\alpha \beta }\) is a function of u and v, and the explicit expression of \(\Omega _\textrm{gw}^{\alpha \beta }\) is formulated in Eqs. (A.15aA.15c), where the limit \(k\eta \rightarrow \infty \) has been used, implying that the tensor perturbations are deeply within the horizon. The total spectrum is \(\Omega _{\textrm{gw}}=\Omega _{\textrm{gw}}^{ss}+\Omega _{\textrm{gw}}^{st}+\Omega _{\textrm{gw}}^{tt}\). Since the energy density of gravitational waves decays as radiation, the present-day physical energy-density spectrum for the second-order tensor perturbations is approximated by [48]

$$\begin{aligned} h^2\Omega _\textrm{gw,0}^{\alpha \beta }(k)=h^2\Omega _\textrm{r,0}\times \Omega _\textrm{gw}^{\alpha \beta }(\eta ,k), \end{aligned}$$
(5)

where the corresponding one for photons and neutrinos is \(h^2\Omega _\textrm{r,0}=4.15\times 10^{-5}\), with h being the dimensionless Hubble constant [49].

Before delving into the precision of detection, we present a featured asymptotic behavior of \(\Omega _{\textrm{gw}}^{st}\) in the following. In particular, we remind that the scalar power spectrum on large scales follows a power-law with amplitude \(\mathcal {A}_{\zeta ,0.05}\simeq 2.1\times 10^{-9}\) and index \(n_{s}\simeq 0.96\) at the pivot scale \(k_{p}=0.05\ \textrm{Mpc}^{-1}\) [49]. However, the formation of primordial black holes necessitates an enhanced scalar spectral amplitude of \(\sim 10^{-2}\) on small scales (see Ref. [50] for a review). We model the scalar power spectrum on small scales as a normal distribution of \(\ln k\) with mean \(k_\zeta \), standard deviation \(\sigma _\zeta \) and spectral amplitude \(A_\zeta \) at the scale \(k_{\zeta }\), i.e., [51]

$$\begin{aligned} \mathcal {P}_{s}(k)=\frac{\mathcal {A}_{\zeta }}{\sqrt{2\pi }\sigma _{\zeta }} \exp \left[ {-\frac{\ln ^{2} (k/k_\zeta )}{2 \sigma ^2_{\zeta }}}\right] . \end{aligned}$$
(6)

On the other hand, we assume that the tensor power spectrum follows a sudden-broken power-law distribution of k throughout the entire scale, i.e.,

$$\begin{aligned} \mathcal {P}_{t}(k) = r \mathcal {A}_{\zeta ,0.05} \left( \frac{k}{k_{p}}\right) ^{n_{t}} \Theta \left( k_{\textrm{reh}}-k\right) , \end{aligned}$$
(7)

where r and \(n_{t}\) represent the tensor-to-scalar ratio and tensor spectral index, respectively, \(k_{\textrm{reh}}\) is the high-frequency end of the spectrum due to reheating at the end of inflation, and \(\Theta (x)\) is the Heaviside function with variable x. In models of canonical single-field slow-roll inflation, the consistency relation \(n_{t}=-r/8\) holds [23]. The current upper bound on the tensor-to-scalar ratio is \(r<0.032\) at the 95% confidence level [15], indicating a slightly red-tilted tensor spectrum. The reheating frequency \(f_{\textrm{reh}}=k_{\textrm{reh}}/(2\pi )\) is related to the reheating temperature \(T_{\textrm{reh}}\) and the effective number of relativistic degrees of freedom \(g_{*,\textrm{reh}}\) during reheating, with \(f_\textrm{reh}\simeq 0.027 \ \textrm{Hz}\ (T_\textrm{reh}/10^6\textrm{GeV})\ (g_\mathrm {*,reh}/106.75)^{1/6}\) [43]. Noticing that the contribution from \(g_{*,\textrm{reh}}\) may be negligible due to the small value of the power-law index, thus the reheating frequency is approximately determined by the reheating temperature.

Fig. 1
figure 1

Present-day physical energy-density spectra \(h^2 \Omega _\textrm{gw,0}^{ss}\) (dashed lines) and \(h^2 \Omega _\textrm{gw,0}^{st}\) (solid lines) for \(\sigma _\zeta \rightarrow 0\) (blue), \(\sigma _\zeta =0.5\) (red) and \(\sigma _\zeta =1\) (green). The vertical lines from left to right denote \(f_\textrm{reh}=27/270/2700\) Hz. Other parameters are given as \( \mathcal {A}_{\zeta }=10^{-3}\), \(f_\zeta =2.7\) mHz, \(r=0.01\) and \(n_t=-r/8\). The shaded regions show the sensitivities of LISA (orange), LIGO (purple) and ET (blue). The horizontal short line (black) denotes the upper limit of \(h^2 \Omega _\textrm{gw,0}(25 \textrm{Hz})\) for LIGO O3, using the power-law model marginalizing over the spectral index with a log-uniform prior [52]

Figure 1 demonstrates that \(\Omega _{\textrm{gw},0}^{st}(k)\propto k^{2+n_{t}}\) as \(k_{\zeta }\ll k < k_{\textrm{reh}}\). The enhancement results from the leading term \( q^2\phi _{\textbf{k}-\textbf{q}}h_\textbf{q}^{\lambda _1}\) of the source \(\mathcal {S}_\textbf{k}^{\lambda st}\) (see Eq. (A.1b)) in the limit \(|\textbf{k}-\textbf{q}|\ll q\approx k\). On the one hand, for larger momentum q of linear tensor perturbations, the source term \(q^2\phi _{\textbf{k}-\textbf{q}}h_\textbf{q}^{\lambda _1}\) can be significantly enhanced by the factor \(q^2\). On the other hand, for smaller momentum \(|\textbf{k}-\textbf{q}|\) of linear scalar perturbation, considering \(T_s(|\textbf{k}-\textbf{q}| \eta )\sim 1/(|\textbf{k}-\textbf{q}| \eta )^2\) within the horizon in the radiation-dominated era, the scalar perturbation decays slower and thus keeps the source term \(q^2\phi _{\textbf{k}-\textbf{q}}h_\textbf{q}^{\lambda _1}\) important for a longer time to induce \(\tilde{h}^{\lambda st}_\textbf{k}\). To make some rough estimates, we have the leading term \(\{\ldots \}_{st}\propto 1/u^{4}\) approximately in the limit \(u=|\textbf{k}-\textbf{q}|/k \rightarrow 0\) and \(v=|\textbf{q}|/k\rightarrow 1\). For simplicity, we take the limit \(\sigma _{\zeta }\rightarrow 0\) and get the scalar spectrum \(\mathcal {P}_{s}(k)=\mathcal {A}_{\zeta } \delta (\ln (k/k_{\zeta }))\), therefore, the energy-density spectrum can be approximated as \(\Omega _{\textrm{gw}}^{st}(k)\propto \int du \int dv \ u^{-4}\ \delta [\ln (uk/k_{\zeta })]\ k^{n_t}\propto k^{n_t} u^{-2}|_{u=k_\zeta /k} \propto k^{2+n_t}\), where \(\int dv\) has been replaced with the integral width 2u. The spectral index \((2+n_t)\) remains unchanged for different values of \(\sigma _{\zeta }\), while the spectral amplitude varies. Further, we can simply use \(\Omega _\textrm{gw}^{st}(k) \simeq \textrm{few}\times r \mathcal {A}_{\zeta ,0.05} \mathcal {A}_{\zeta } (k/k_{\zeta })^2 (k/k_p)^{n_t} \Theta (k_\textrm{reh}-k)\) in \(k\gg k_\zeta \) region for a good order estimate. The null-energy condition is not violated by this blue-tilted spectrum since second-order gravitational waves were produced during the radiation-dominated era, not the inflationary stage.

We compare physical energy-density spectra of second-order tensor perturbations (as functions of frequency) with sensitivity curves of LISA, LIGO, and ET in Fig. 1. The scalar-induced tensor perturbations with \(\Omega _{\textrm{gw},0}^{ss}(k)\) have been semi-analytically studied in the literature [45, 46, 53, 54]. Due to \(r<0.032\), the amplitude of \(\Omega _{\textrm{gw},0}^{tt}(k)\) is too small to fit the scope of Fig. 1. However, the blue-tilted \(\Omega _{\textrm{gw},0}^{st}(k)\) makes it promising to measure primordial tensor perturbations (r and \(n_{t}\)) and reheating physics (\(T_{\textrm{reh}}\)) with high-frequency gravitational-wave detectors. Therefore, we expect that multi-band measurements of second-order tensor perturbations may lead to a better understanding of the late-time stage of inflation.

3 Expected sensitivity of gravitational-wave detectors to measure the anticipated signal

We perform Fisher-matrix forecasts by considering instrumental uncertainties for detector networks composed of space-borne LISA and ground-based LIGO or ET. The Fisher matrix for second-order tensor perturbations is given by

$$\begin{aligned} F_{ab} = \sum _{i=1}^{N} T_{i} \epsilon _{i} \int df \frac{\partial _{\theta _{a}}\Omega _{\textrm{gw,0}}(k) \ \partial _{\theta _{b}}\Omega _{\textrm{gw,0}}(k)}{\Omega ^{2}_{n,i}(f)}, \end{aligned}$$
(8)

where \(f=k/(2\pi )\) is the frequency of gravitational waves, \(\theta =\{\ln \mathcal {A}_{\zeta },\sigma _{\zeta },\ln f_{\zeta },r,n_{t},\ln f_{\textrm{reh}}\}\) is the parameter space being determined, \(\Omega _{n}(f)\) denotes the effective detector noise as a function of f, as summarized in Ref. [55], N is the number of independent detectors, T is the observing time, and \(\epsilon \) is the duty circle. For LISA, we consider a single detector with 75% duty circle during a four-year observation. For LIGO (ET), we consider two (three) independent detectors with 100% duty circle during a four-year (one-year) observation. The fiducial parameters are \(\mathcal {A}_{\zeta }=10^{-3}\), \(\sigma _{\zeta }=0.5\), \(f_{\zeta }=2.7\) mHz, \(r=0.01\), \(n_{t}=-r/8\), and \(f_{\textrm{reh}}=27/270/2700\) Hz. The corresponding spectra have been shown in Fig. 1.

Table 1 The \(1\sigma \) confident uncertainties of r, \(n_t\) and \(\ln {f_\textrm{reh}}\) measured by LIGO and ET for \(f_\textrm{reh}=27/ 270/2700\) Hz
Fig. 2
figure 2

Cross-correlations between r and \(n_t\) measured by ET for \(f_\textrm{reh}=27(\textrm{blue})/270(\textrm{red})/2700(\textrm{green})\) Hz. Dark and light shaded contours stand for the \(1\sigma \) and \(2\sigma \) confident regions, respectively. The fiducial model with \(r=0.01\) and \(n_t=-r/8\) (other parameters are marginalized) is marked as a star

Though multi-band measurements are performed with detector networks, the parameters of the scalar spectrum in Eq. (6) are completely determined by LISA. The results are given as \(\Delta \ln \mathcal {A}_{\zeta }=7.5\times 10^{-3}\), \(\Delta \sigma _{\zeta }=6.0\times 10^{-3}\), and \(\Delta \ln f_{\zeta }=3.9\times 10^{-3}\), indicating (sub)percent-level measurements. On the other hand, the parameters of the tensor spectrum in Eq. (7) are completely determined by LIGO and ET. For our fiducial model, LIGO could achieve \(\Delta r/r \sim \mathcal {O}(1)\) and \(\Delta n_{t}\sim \mathcal {O}(10^{-2})\), while ET, with better sensitivity than LIGO, could achieve \(\Delta r/r \sim \mathcal {O}(10^{-2})\) and \(\Delta n_{t}\sim \mathcal {O}(10^{-4})\), allowing for more-than-\(10\sigma \) confident measurements of the tensor-to-scalar ratio and a possibility to test the consistency relation \(n_{t}=-r/8\) at the \(2\sigma \) confidence level. The precision for measuring r and \(n_{t}\) depends on the fiducial value of \(f_{\textrm{reh}}\), as shown in Table 1. For higher reheating frequency, which implies wider frequency band being captured by LIGO and ET, we expect better precision for measurements of r and \(n_{t}\). Figure 2 shows the marginalized \(1\sigma \) and \(2\sigma \) cross-correlations between r and \(n_{t}\), as well as their dependence on \(f_{\textrm{reh}}\). In addition, the best measurement of \(f_{\textrm{reh}}\) can be performed when \(f_{\textrm{reh}}\) coincides with the most sensitive frequency band of detectors, which is given as \(\sim \mathcal {O}(10^{2})\) Hz for LIGO and ET. Therefore, we expect the best precision to be \(\Delta \ln f_{\textrm{reh}}\sim \mathcal {O}(10^{-4})\) for LIGO and \(\Delta \ln f_{\textrm{reh}}\sim \mathcal {O}(10^{-6})\) for ET. If such a measurement works in the best case, our results may provide meaningful insights for particle physics, as the reheating temperature is \(\sim \mathcal {O}(10^{10})\) GeV.

To enhance the detectability of primordial tensor perturbations, our results can be further improved if using fiducial models that anticipate larger amplitudes for \(\Omega _{\textrm{gw},0}^{st}(k)\). This could be achieved, for example, by enhancing the amplitude of the scalar or tensor spectrum, or both, as \(\Omega _{\textrm{gw},0}^{st}\propto r \mathcal {A}_{\zeta }\). In particular, LIGO could potentially measure primordial tensor perturbations by setting the fiducial value to be \(\mathcal {A}_{\zeta }\sim 10^{-2}\), which is related to an interesting topic of the formation of PBHs [50]. Other alternatives include increasing the bump width of the scalar spectrum, indicating a larger value for \(\sigma _{\zeta }\), or decreasing the peak frequency of the scalar spectrum, indicating a smaller value for \(f_{\zeta }\), etc.

4 Conclusion

In the early universe, the linear tensor perturbations were modulated with bump-spectral scalar perturbations to produce second-order tensor perturbations. The resulting tensor spectral index was found to be \((2+n_{t})\), which may have a significant blue tilt. Currently, plans are underway to develop next-generation ground-based gravitational-wave detectors that could provide accurate measurements of the tensor-to-scalar ratio within the next decade. However, such measurements require the existence of both inflationary tensor perturbations and linear scalar perturbations with a bumpy power spectrum, making it difficult to discuss their specifics until the measurements are completed. If future multi-band measurements are able to detect the anticipated signal of second-order tensor perturbations, it could provide valuable insights into the physics of cosmic inflation and help constrain inflation models. While scientists are actively pursuing measurements of CMB B-mode polarization (see review in Ref. [56]), our proposal offers an alternative approach to accurately measure primordial tensor perturbations.