  The coalescence of compact objects is one of the most promising sources of
gravitational waves for ground-based interferometric detectors, such as
advanced LIGO and Virgo. Generically, com- pact objects in binaries are
expected to be spinning with spin angular momenta misaligned with the orbital
angular momentum, causing the orbital plane to precess. This precession adds
rich structure to the gravitational waves, introducing such complexity that an
analytic closed-form description has been unavailable until now. We here
construct the first closed-form frequency- domain gravitational waveforms that
are valid for generic spin-precessing quasicircular compact binary inspirals.
We first construct time-domain gravitational waves by solving the
post-Newtonian precession equations of motion with radiation reaction through
multiple scale analysis. We then Fourier transform these time-domain waveforms
with the method of shifted uniform asymptotics to obtain closed-form
expressions for frequency-domain waveforms. We study the accuracy of these
analytic, frequency-domain waveforms relative to waveforms obtained by
numerically evolving the post-Newtonian equations of motion and find that they
are suitable for unbiased parameter estimation for 99.2%(94.6%) of the binary
configurations we studied at a signal-to-noise ratio of 10(25). These new
frequency-domain waveforms could be used for detection and parameter estimation
studies due to their accuracy and low computational cost.
