OTFS and Delay Doppler Communications

Tutorial - Symposium - SCSS - APCC2022

A/Prof Yi Hong

Department of Electrical and Computer Systems Engineering

Monash University, Clayton, Australia

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Overview I

1 Introduction

2 Wireless channel representation

3 OTFS modulation

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Overview II

4 OTFS Signal Detection

5 OTFS channel estimation

6 OTFS application

Links to download Matlab code:

https://ecse.monash.edu/staff/eviterbo/OTFS-VTC18/OTFS%20MRC%
20detection%20MATLAB%20code.zip
https://ecse.monash.edu/staff/eviterbo/OTFS-VTC18/OTFS_sample_code.zip

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* Y. Hong, T. Thaj, and E. Viterbo, Delay-Doppler Communications: Principles and
Applications. Academic Press - Elsevier, 2/2022, ISBN:9780323850285

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News

IEEE ComSoc Online Course:

OTFS and Delay-Doppler Communications

16 - 17 November 2022, 2:00 pm to 6:00 pm EST

E. Viterbo (Instructor), Y. Hong and T. Thaj (Developers)

Link: https://www.comsoc.org/education-training/training-courses/
online-courses/2022-11-otfs-and-delay-doppler-communications

Book: Y. Hong, T. Thaj, and E. Viterbo, Delay-Doppler Communications: Principles and

Applications. Academic Press - Elsevier, 2/2022, ISBN:9780323850285

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 Introduction

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Evolution of wireless

Mobile 4G LTE
OFDMA
Mobile 3G
CDMA PS data, VOIP

Mobile 2G
TDMA Voice, SMS, PS data
transfer
Mobile 1G
Analog FDMA Voice, SMS, CS data
transfer
Voice, Analog traffic

1980s, N/A 1990s, 0.5 Mbps 2000s, 63 Mbps 2010s, 300 Mbps

Waveform design is the major change between the generations

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High-Doppler wireless channels

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Wireless Channels - delay spread

r2
Reflected path
r3

r1
LoS path
Delay of LoS path: τ1 = r1 /c
Delay of reflected path: τ2 = (r2 + r3 )/c
Delay spread: τ2 − τ1
Received signal:
r (t) = h1 s(t − τ1 ) +h2 s(t − τ2 )
| {z } | {z }
delay delay
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Wireless Channels - Doppler spread

Reflected path

v cosθ
θ

LoS path
v
Doppler frequency of LoS path: ν1 = fc vc
Doppler frequency of reflected path: ν2 = fc v cos
c
θ

Doppler spread: ν2 − ν1
Received signal:
r (t) = h1 e| j2πν{z
1 (t−τ1 )
} s(t − τ1 ) +h2 e| j2πν{z
2 (t−τ2 )
} s(t − τ2 )
| {z } | {z }
Doppler delay Doppler delay
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Typical delay and Doppler spreads

Delay spread (c = 3 · 108 m/s)

∆rmax Indoor (3m) Outdoor (3km)

τmax 10ns 10µs

Doppler spread

νmax fc = 2GHz fc = 60GHz

v = 1.5m/s = 5.5km/h 10Hz 300Hz
v = 3m/s = 11km/h 20Hz 600Hz
v = 30m/s = 110km/h 200Hz 6KHz
v = 150m/s = 550km/h 1KHz 30KHz

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Wireless Channels: time domain

Consider P propagation paths with parameters: (hi , τi , νi ), i = 1, . . . , P

P
X
r (t) = hi e j2πνi (t−τi ) s(t − τi )
| {z }
i=1 g (t,τi )

Received signal in terms of time-varying convolution

Z
r (t) = g (t, τ ) s(t − τ )dτ
| {z }
time-variant impulse response

where the time-variant impulse response

P
X
g (t, τ ) = hi e j2πνi (t−τi ) δ(τ − τi )
i=1

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Time-variant impulse response g (t, τ )

—————
* G. Matz and F. Hlawatsch, Chapter 1, Wireless Communications Over Rapidly Time-Varying
Channels. New York, NY, USA: Academic, 2011
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OFDM

OFDM - Orthogonal Frequency Division Multiplexing

Subcarriers

Frequency

OFDM divides the frequency selective channel into multiple parallel

sub-channels

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OFDM system model

Figure: OFDM Tx

Figure: OFDM Rx
(*) From Wikipedia, the free encyclopedia
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Effect of high multiple Dopplers in OFDM

Introduces inter carrier interference (ICI)

ICI

Frequency

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OTFS

Orthogonal Time Frequency Space Modulation (OTFS)(∗)

Solves the two cons of OFDM
Works in Delay–Doppler domain rather than Time–Frequency domain

——————
(*) R. Hadani, S. Rakib, M. Tsatsanis, A. Monk, A. J. Goldsmith, A. F. Molisch, and R.
Calderbank, “Orthogonal time frequency space modulation,” in Proc. IEEE WCNC, San
Francisco, CA, USA, March 2017.

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 Wireless channel representation

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Wireless channel representation
Different representations of linear time variant (LTV) wireless channels

time variant
delay-Doppler
g (t, τ ) channel response
channel response @
(OTFS)
Ft F@
τ@
R
SFT
h(τ, ν) 
- H(t, f )
ISFT
@ F
@ τ
Ft time-frequency
channel response
R
@
(OFDM)
frequency-Doppler B(f, ν)
channel response

Figure: Different domain representations of a time-variant multipath channel impulse

response g (t, τ ), also denoted as the delay-time channel response

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Wireless channel representation
The received signal in linear time variant channel (LTV)
Z
r (t) = g (t, τ ) s(t − τ )dτ → generalization of LTI
| {z }
time-variant impulse response
Z Z
= h(τ, ν) s(t − τ )e j2πνt dτ dν → Delay–Doppler Channel
| {z }
Delay–Doppler spreading function
Z
= H(t, f ) S(f )e j2πft df → Time–Frequency Channel
| {z }
time-frequency response

Relation between Delay-Doppler channel response h(τ, ν) and time-frequency

channel response H(t, f )
Z Z 
−j2π(νt−f τ )
h(τ, ν) = H(t, f )e dtdf 


Z Z Pair of 2D symplectic FT
h(τ, ν)e j2π(νt−f τ ) dτ dν 

H(t, f ) = 

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Wireless channel representation

2
1
Doppler 0
-1
-2
0 1 2 3 4
Delay

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Wireless channel representation

2
1
Doppler 0
-1
-2
0 1 2 3 4
Delay

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High mobility multipath channel in delay-Doppler domain

Received signal in terms of the delay-Doppler channel

Z Z
r (t) = h(τ, ν) s(t − τ )e j2πνt dτ dν
| {z }
Delay–Doppler channel response

where the delay-Doppler response of a multipath channel of P paths with

parameters (hi , τi , νi ), i = 1, . . . , P
P
X
h(τ, ν) = hi e −j2πτi νi δ(τ − τi )δ(ν − νi )
| {z }
i=1 hi′

This leads to
P
X
r (t) = hi e −j2πνi τi e| j2πνit
s(t − τ )
| {z } {z } | {z i }
i=1 gain Doppler delay

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Delay-Doppler h(τ, ν) vs Time-frequency H(t, f ) channel
Multipath mobile channel

1 0.3
magnitude

magnitude
0.2
0.5
0.1

0 0
0.5/T 0.5M f
1/ f NT
0 0
-0.5/T 0 -0.5M f 0
(Hz) (s) f (Hz) t (s)
(a) h(τ, ν) (b) H(t, f )

Figure: The continuous delay-Doppler vs time-frequency channel representation of a high

mobility multipath channel (linear time-varying)

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Discrete baseband equivalent channel

Let the Tx signal s(t) be of bandwidth B = M∆f [Hz] and duration

Tf = NT [s], and T ∆f = 1.
Let the baseband Rx sampling rate fs = 1/Ts = B [Hz]
Discrete-time signals sampled at sampling interval Ts = 1/B = T /M [s].

s[n] = s(t)|t=nTs , r [n] = r (t)|t=nTs

The discrete-time baseband channel for l, n ∈ Z

g s [l, n] = g (τ, t)|τ =lTs ,t=nTs

Received discrete baseband signal

X
r [n] = g s [l, n]s[n − l]
l

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Time–Frequency and delay–Doppler grids
Delay

1
M ∆f M
Frequency
∆f M

2D SFFT

2 2D ISFFT
1
1 2 N Time
2
T
1
1 2 N Doppler
B = M∆f , Tf = NT [s], T = 1/∆f 1
NT

delay resolution T /M = Ts , Doppler resolution ∆f /N = 1/Tf = 1/NT

Delay-Doppler channel response
X P
h(τ, ν) = hi′ δ(τ − τi )δ(ν − νi )
i=1
1 1



Assume τi = li M∆f and νi = ki NT , li , ki ∈ Z
 ′
hi if l = li , k = ki
h[l, k] =
0 otherwise
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 OTFS modulation

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OTFS modulation by Hadani’17

Time-Frequency Domain

Heisenberg Wigner
ISFFT Channel SFFT
Doppler time
Transform Transform

Time Domain
delay

Delay-Doppler Domain
freq.

Figure: OTFS mod/demod

OTFS is equivalent to OFDM with 2-D unitary precoding (ISFFT) in the

time-frequency domain, which spreads each information symbol equally in M
sub-carriers and N time-slots.

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Delay–Doppler domain input-output relation (Ideal Pulse)
Received signal in delay–Doppler domain

P
X
y [k, l] = hi x[[k − kνi ]N , [l − lτi ]M ]
i=1
= h[k, l] ∗ x[k, l] (2D Circular Convolution)

1 1
0.8

0.8 0.8

0.6

0.6 0.6

0.4
0.4 0.4

0.2
0.2 0.2

0
0 0
0
0
1 5
2
5
3
20 10
4 10
10 5 9
15 6 8 15
7 7 15
15 6
10 8 20
5 10
9 4
20 10 25
5 3 5
2
25 1 30

(a) Input signal, x[k, l] (b) Channel, h[k, l] (c) Output signal, y [k, l]

Figure: OTFS signals

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OTFS with ideal vs rectangular pulses – time–frequency
domain

Time–frequency input-output relation with ideal pulses

Ytf [k, l] = Htf [k, l]Xtf [k, l]

Time–frequency input-output relation with rectangular pulses

Ytf [k, l] = Htf [k, l]Xtf [k, l] + ICI + ISI

ICI – loss of orthogonality in frequency domain due to Dopplers

ISI – loss of orthogonality in time domain due to delays

(*) P. Raviteja, K. T. Phan, Y. Hong, and E. Viterbo, “Interference cancellation and iterative detection for orthogonal time frequency space modulation,”
IEEE Trans. Wireless Commun., vol. 17, no. 10, pp. 6501-6515, Oct. 2018.

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Rectangular pulses

Rectangular pulses:
TF I/O relation: ISI and ICI due to delay and Doppler spread

Ytf [k, l] = Htf [k, l]Xtf [k, l] + ICI + ISI

DD I/O relation: 2-D twisted circular convolution

P
X
Y[k, l] = hi α(k, l, ki , li )X[[k − ki ]N , [l − li ]M ]
i=1
j l−l k
j2πki (l−li )
i j 2π (k−k ) i
where α(k, l, ki , li ) = e NM e N M are the phase rotations due to
ICI and ISI (⌊·⌋ denotes the floor operation). They are associated with channel
delay and Doppler indices (ki , li ) and symbol location (k, l) in the DD grid,
which can be easily corrected.

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 OTFS Input-Output Relation in Matrix Form

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OTFS transmitter implementation: M = 2048, N = 128
time time
(128 symbols) (128 symbols)
IFFT IFFT
128 128
delay (M=2048)

delay (M=2048)
XMxN . XMxN . time
Q-QAM Q-QAM (128 symbols)

delay
delay
. … . …
MN*log2(Q) bits ISFFT MN*log2(Q) bits .
.
IFFT MxN IFFT
128 128
Doppler (N=128) Doppler (N=128)
FFT … FFT
2048 2048

time
(128 symbols)
(2048 subcarriers)
frequency

…
Heisenberg transform M>N TX complexity PAPR
P/S+CP
time-frequency -> time OTFS MN*log2(N) N
(N-symbol OFDM transmitter)
IFFT … IFFT OFDM MN*log2(M) M
2048 2048

P/S+CP Only
2048 samples one CP
…

Time domain signal (128 symbols, 2048 samples each)

When the sizes of the FFT in ISFFT and the IFFT in Heisenberg transform
are the same, then the LHS structure reduces to the RHS one, which is the
inverse ZAK transform
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OTFS modulation: Matrix form

Tx signal in time domain: ISFFT (DD-TF) + Heisenberg (TF-T)

Matrix form S = Gtx F†M FM XF†N = Gtx XF†N

| {z } |{z}
ISFFT X
e

Vector form s = vec(S) = vec(Gtx XF†N )

|{z}
X
e

For rectangular pulse shaping waveforms (Gtx = IM ):

S = XF†N = X̃ s = vec(XF†N ) = vec(X̃)

The above operation is equivalent to the well known inverse discrete Zak
transform (IDZT)
s = IDZT{X} = vec(XF†N )

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OTFS Tx implementation: M = 2048, N = 128

Tx does the inverse discrete ZAK transform:

s = IDZT{X} = vec(XF†N )

when the sizes of the FFT in ISFFT and the IFFT in Heisenberg transform
are the same.
The simplified Tx structure is equivalent to V-OFDM(*) [a.k.a. A-OFDM† ],
proposed for static multipath channels only(**), but Not investigated for high
mobility communications.

(*) X. Xia, “Precoded and vector OFDM robust to channel spectral nulls and with reduced
cyclic prefix length in single transmit antenna systems”, in IEEE Trans. on Commun., 2001.
(† ) J. Zhang, A. Jayalath, Y. Chen, ”Asymmetric OFDM Systems Based on Layered FFT
Structure”, in IEEE Signal Processing Letters, 2007.
(**) P.Raviteja, E.Viterbo, Y. Hong, ”OTFS Performance on Static Multipath Channels”,
in IEEE Wireless Communications Letters, 2019.

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OTFS demodulation: Matrix form
2048 samples
time varying …
channel
Time domain signal (128 symbols, 2048 samples each)

time FFT
(128 symbols) 128

delay (M=2048)
remove . YMxN
CP received

delay
… .
+ . Symbols
S/P
FFT
128
Doppler (N=128)

Rx signal in delay-Doppler domain: Wigner (T-TF) + SFFT (TF-DD)

Y = F†M FM Grx vec−1M,N (r) FN = Grx YFN
e
| {z }
Y
e
For rectangular pulse shaping waveforms (Grx = IM ): e · FN
Y=Y
It is equivalent to the discrete Zak transform (DZT)

Y = DZT{r} = vec−1
M,N (r) · FN = Y · FN
e
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OTFS demodulation: Matrix form

Tx and Rx are operating inverse discrete Zak and discrete Zak Transforms,
respectively.

(*) S.K Mohammed, “Derivation of OTFS Modulation From First Principles,” IEEE Trans.
on Veh. Tech., vol. 70, no.8, pp. 7619-7636, Aug. 2021.
(*) Y. Hong, T. Thaj, and E. Viterbo, Delay-Doppler Communications: Principles and
Applications, Academic Press, an imprint of Elsevier, Feb. 2022.

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OTFS: matrix representation – channel
Received signal in vector form in time domain (assuming noiseless)

r = Gs

G is an MN × MN matrix of the following form

P
X
G= hi′ Πli ∆(ki ) ,
i=1

where, Π is the permutation matrix (forward cyclic shift), and ∆(ki ) is the
diagonal matrix
   j2πki (0) 
0 ··· 0 1 e MN 0 ··· 0
1 . . . 0 0
j2πki (1)
···
   
(ki )
 0 e MN 0 
Π = .

.
 , ∆ = 
. . .

 .. . . . . . . ..   .. .. ..
  

j2πki (MN−1)
0 · · · 1 0 MN×MN 0 0 ··· e MN
| {z } | {z }
Delay (similar to OFDM) Doppler
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Summary of OTFS Channel matrix representation

The MN × MN channel matrix for rectangular pulses:

P
X h i
hi′ (FN ⊗ IM )Πli (FH (ki ) H

H= N ⊗ IM ) (FN ⊗ IM )∆ (FN ⊗ IM )
i=1
| {z }| {z }
P (delay)
(i)
Q(i) (Doppler)

P
X P
X
= hi′ P(i) Q(i) = hi′ T(i)
i=1 i=1

T(i) has only one non-zero element in each row and the position and value of
the non-zero element depends on the delay and Doppler values.
The channel matrix H has only P nonzero entries in each row and column,
i.e., a simple sparse structure.
—————
*P. Raviteja, Y. Hong, E. Viterbo, and E. Biglieri, “Practical pulse-shaping waveforms for
reduced-cyclic-prefix OTFS,” IEEE Trans. Veh. Technol., vol. 68, no. 1, pp. 957-961, 2019.

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OTFS: Example for computing Hrect
eff

M = 2, N = 2,MN = 4
1
li = 0 and ki = 0 (no delay and Doppler)
0

Πli =0 = I4 ⇒ P(i) = (F2 ⊗ I2 )(FH

2 ⊗ I2 ) = I4 0 1
(ki =0) (i)
∆ = I4 ⇒ Q = (F2 ⊗ I2 )(FH
2 ⊗ I2 ) = I4
(i) (i) (i)
T =P Q = I4 ⇒ Narrowband channel

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OTFS: Example for computing Hrect
eff

1
li = 1 and ki = 1 (both delay and Doppler)
0
2 3
0 1 0 0 0 1

(i)
61 0 0 0 7
P =6
40 −j2π 12 5
7
0 0 e
0 0 1 0
2 3
0 0 1 0
60 j2π 41 7
0 0 e
Q(i) =6
41
7
0 0 0 5
1
0 ej2π 4 0 0

T(i) = P(i) Q(i) ⇒ T(i) s → circularly shifts both the blocks (size M) and the
elements in each block of s by 1 (delay and Doppler shifts)

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OTFS: channel for rectangular pulses

T(i) has only one non-zero element in each row and the position and value of
the non-zero element depends on the delay and Doppler values.
 k ([m−l ] )
−j2π Nn j2π i MNi M
e
 e , if q = [m − li ]M + M[n − ki ]N and m < li
k ([m−l ] )
T(i) (p, q) = e j2π i MNi M , if q = [m − li ]M + M[n − ki ]N and m ≥ li


0, otherwise.

Example: li = 1 and ki = 1
1
0 e j2π 4

0 0
0 0 1 0 
T(i) =
 1

0 e −j2π 4 0 0 
1 0 0 0

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MIMO-OTFS Input-Output Relation in Matrix Form

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MIMO-OTFS modulation

time domain
mod demod

mod demod

mod demod

delay-Doppler domain

Figure: Block diagram of MIMO-OTFS modulation scheme

* T. Thaj and E. Viterbo,“Low-Complexity Linear Diversity-Combining Detector

for MIMO-OTFS”, in IEEE Wireless Commun. Lett., vol. 11, no. 2, pp. 288-292,
Feb. 2022. Seminar on OTFS and delay-Doppler Commun.
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Delay-Doppler input-output relation

MIMO-OTFS time domain input-output relation:

rMIMO = GMIMO · sMIMO

where rMIMO ∈ CnR MN , sMIMO ∈ CnT MN are the received and transmitted
signal samples vector and
 (1,1)
· · · G(1,nT )

G
GMIMO ∈ CnR MN×nT MN = 
 .. .. .. 
. . . 
G(nR ,1) · · · G(nR ,nT )

is the MIMO-OTFS channel matrix with each submatrix G(r ,t) ∈ CMN×MN as
P
X
G(r ,t) = hi′ Πli ∆(ki ) , t = 1, . . . , nT , r = 1, . . . , nR .
i=1

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MIMO-OTFS delay Doppler domain input-output relation

MIMO-OTFS delay-Doppler domain input-output relation:

 (1)  
H(1,1) H(1,2) · · · H(1,nT )
  (1) 
y x
 y(2)   H(2,1) H (2,2)
· · · H(2,nT )   (2)
 x

 ..  = 
   
.. . .. . .. .
..   .. 
 .   .  . 
y(nR ) H(nR ,1) H(nR ,2) · · · H(nR ,nT ) x(nT )
| {z } | {z } | {z }
yMIMO HMIMO(NMnR ×NMnT ) xMIMO

The terms yMIMO ∈ CnR MN and xMIMO ∈ CnT MN are the received and
transmitted time-domain signal samples vectors.
The delay-Doppler domain channel matrix HMIMO has submatrices
H(r ,t) ∈ CMN×MN for r = 1, . . . , nR and t = 1, . . . , nT .

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 OTFS Signal Detection

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Vectorized formulation of the input-output relation

The input-output relation in the DD domain is a 2D twisted convolution

P
X
Y[k, l] = hi α(k, l, ki , li )X[[k − ki ]N , [l − li ]M ] + W[k, l]
i=1

where m = 1 . . . M, n = 1 . . . N.
We can reorganize the above equation in the vectorized form as

y = |{z}
H x+w (1)
NM×NM

where x ∈ CNM , y ∈ CNM are the transmitted symbol vector and the received
signal samples vector, and H is the DD domain channel matrix and has only
P non-zero terms in each row.
Given the sparse nature of H we can solve (1) by using a message passing
algorithm

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Message passing based detection

Symbol-by-symbol MAP detection for c = 1, . . . , NM

xb[c] = arg max Pr x[c] = aj y, H
aj ∈A
1

= arg max Pr y x[c] = aj , H
aj ∈A Q
Y

≈ arg max Pr y [d] x[c] = aj , H
aj ∈A
d∈Jc

Received signal y [d]

X
y [d] = x[c]H[d, c] + x[e]H[d, e] + z[d]
e∈Id ,e̸=c
| {z }
(i)
ζd,c → assumed to be Gaussian

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Messages in factor graph

Algorithm MP algorithm for OTFS symbol detection

Input: Received signal y, channel matrix H
(0)
Initialization: pmf pc,d = 1/Q repeat
- Observation nodes send the mean and variance to variable nodes
- Variable nodes send the pmf to the observation nodes
- Update the decision
until Stopping criteria;
Output: The decision on transmitted symbols xb[c]

y[d] y[e1 ] y[eS ]

2 2
(µd;e1 ; σd;e 1
) (µd;eS ; σd;e S
)
pc;e1 pc;eS

x[e1 ] x[eS ] x[c]

fe1 ; e2 ; · · · ; eS g = Id fe1 ; e2 ; · · · ; eS g = Jc
Observation node messages Variable node messages

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Messages in factor graph – observation node messages

y[d]

2 2
(µd;e1 ; σd;e 1
) (µd;eS ; σd;e S
)

Received signal
X x[e1 ] x[eS ]
y [d] = x[c]H[d, c] + x[e]H[d, e] + z[d]
e∈I(d),e̸=c fe1 ; e2 ; · · · ; eS g = Id
| {z }
(i)
ζd,c → assumed to be Gaussian

Mean and Variance

Q
(i) (i−1)
X X
µd,c = pe,d (aj )aj H[d, e]
e∈I(d),e̸=c j=1

 
2
Q Q
(i) (i−1) (i−1)
X X X
(σd,c )2 = pe,d (aj )|aj |2 |H[d, e]|2 − pe,d (aj )aj H[d, e]  + σ 2
 

e∈I(d),e̸=c j=1 j=1

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Messages in factor graph – variable node messages
y[e1 ] y[eS ]

pc;e1 pc;eS
Probability update with damping
factor ∆ x[c]
(i)
pc,d (aj ) =∆·
(i)
p̃c,d (aj ) + (1 − ∆) ·
(i−1)
pc,d (aj ), aj ∈A fe1 ; e2 ; · · · ; eS g = Jc

where
 
(i)
Y
p̃c,d (aj ) ∝ Pr y [e] x[c] = aj , H
e∈J (c),e̸=d
Y ξ (i) (e, c, j)
= PQ (i)
e∈J (c),e̸=d k=1 ξ (e, c, k)
2
 
(i)
 − y [e] − − He,c ak 
µe,c
ξ (i) (e, c, k) = exp  (i) 2 
(σe,c )

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Final update and stopping criterion

Final update
Y ξ (i) (e, c, j)
pc(i) (aj ) = PQ (i)
e∈J (c) k=1 ξ (e, c, k)

xb[c] = arg max pc(i) (aj ), c = 1, · · · , NM.

aj ∈A

Stopping Criterion
Convergence Indicator η (i) = 1
NM  
(i) 1 X (i)
η = I max pc (aj ) ≥ 0.99
NM c=1 aj ∈A

Maximum number of Iterations

Complexity – O(NMPQ) per iteration

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Other detection methods

MRC detection (Ref [c])

MMSE detection (Ref [23][24])
FDE (frequency domain equalization) (Ref [19])
OTFS MMSE-PIC (Ref [20])
MP algorithm variants and improvements (Ref [43]-[47])
neural network based detection (Ref [48]-[50])
A detailed OTFS detection surveys can be found in References [a] and [b].

—————
[a]. Z. Q. Zhang, H. Liu, Q. L. Wang, and P. Fan, “A survey on low complexity detectors for
OTFS systems,” ZTE Communications, vol. 19, no. 4, pp. 03–15, Dec. 2021.

[b] A. Naikoti and A. Chockalingam, “Signal detection and channel estimation in OTFS,” ZTE
Communications, vol. 19, no. 4, pp. 16–33, Dec. 2021.
[c] T. Thaj and E. Viterbo, “Low complexity Iterative Rake Decision Feedback Equalizer for
Zero-Padded OTFS systems,”in IEEE Trans. Veh. Tech., vol. 69, no. 12, pp. 15606-15622,
Dec. 2020, doi: 10.1109/TVT.2020.3044276.
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Weakness of the MP detection

The number of delay-Doppler domain paths P is very high in practical cases.

Complexity of message passing detection scales linearly with P.

Complexity of message passing detection also scales linearly with modulation

size Q, implying it incurs high complexity for high order modulation.

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Other detection methods

Maximal Ratio Combining Detection

Detection complexity comparable to single tap equalizer
Performance similar to MP detector
Ease of implementation
We discuss MRC for zero padded (ZP) OTFS since ZP can be used as guard
symbols for pilot.
Can be easily extended to other OTFS variants
Detailed introduction is available in:

the IEEE ComSoc Training Course, 16 - 17 November 2022, 2:00 pm to 6:00

pm EST, Viterbo (Instructor), Hong and Thaj (Developers)
https://www.comsoc.org/education-training/training-courses/
online-courses/2022-11-otfs-and-delay-doppler-communications

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OTFS Parameters

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Simulation results – damping factor ∆

100 45
OTFS, 120 Kmph OTFS, 120 Kmph

Average no. of iterations

40
10-1
35
10-2 4-QAM, SNR = 18 dB 4-QAM, SNR = 18 dB
30
BER

25
10-3
20
10-4
15
-5 10
10
0.2 0.4 0.6 0.8 1 0.2 0.4 0.6 0.8 1
∆ ∆
Figure: Variation of BER and average iterations no. with ∆. Optimal for ∆ = 0.7

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Simulation results – OTFS vs OFDM with ideal pulses

100
OTFS, Ideal, 30 Kmph
OTFS, Ideal, 120 Kmph
4-QAM OTFS, Ideal, 500 Kmph
10-1 OFDM, 30 kmph
OFDM, 120 kmph
OFDM, 500 kmph
10-2
BER

10-3

10-4

10-5
5 10 15 20 25 30
SNR in dB

Figure: The BER performance comparison between OTFS with ideal pulses and OFDM
systems at different Doppler frequencies.

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Simulation results – Ideal and Rectangular pulses

100

10-1

10-2
BER

10-3 ×10-4
3.8
OTFS, Rect., WC, 30 Kmph
OTFS, Rect., WC, 120 Kmph
OTFS, Rect., WC, 500 Kmph
10-4 OTFS, Rect., WO, 30 Kmph
OTFS, Rect., WO, 120 Kmph
3.795 OTFS, Rect., WO, 500 Kmph
OTFS, Ideal
14.2 14.3 14.4 OFDM, 500 kmph
10-5
5 10 15 20 25 30
SNR in dB

Figure: The BER performance of OTFS with rectangular and ideal pulses at different
Doppler frequencies for 4-QAM.
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Simulation results – Ideal and Rect. pulses - 16-QAM

100
OTFS, Rect., WC, 30 Kmph
OTFS, Rect., WC, 120 Kmph
16-QAM OTFS, Rect., WC, 500 Kmph
OTFS, Ideal
-1
10 OTFS, Rect., WO, 120 Kmph
OFDM
BER

10-2

10-3

10-4
10 15 20 25 30 35
SNR in dB
Figure: The BER performance of OTFS with rectangular and ideal pulses at different
Doppler frequencies for 16-QAM.
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 OTFS channel estimation

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Channel estimation using single pilot in the delay-Doppler
domain
Each transmit and receive antenna pair sees a different channel having a
finite support in the delay-Doppler domain
The support is determined by the delay and Doppler spread of the channel
The OTFS input-output relation for pth transmit antenna and qth receive
antenna pair can be written as
nT P(r ,t)
(r ,t)
X X (r ,t) (r ,t),li (r ,t) (r ,t)
Y(r ) [k, l] = hi α(k, l, ki )X(t) [[[k − ki ]N , l − li ]M ]
t=1 i=1

—————
1 P. Raviteja, K. T. Phan and Y. Hong, “Embedded Pilot-Aided Channel Estimation
for OTFS in Delay–Doppler Channels” in IEEE Transactions on Vehicular
Technology, vol. 68, no. 5, pp. 4906-4917, May 2019.
2 M. K. Ramachandran and A. Chockalingam,“MIMO-OTFS in High-Doppler Fading
Channels: Signal Detection and Channel Estimation” 2018 IEEE Global
Communications Conference (GLOBECOM), 2018, pp. 206-212.
3 R. Hadani and S. Rakib, “OTFS methods of data channel characterization and uses
thereof.” U.S. Patent 9 444 514 B2, Sept. 13, 2016.
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Figure: Illustration of pilots and channel response in delay-Doppler domain in a 2×1
MIMO-OTFS system

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SISO OTFS system with integer Doppler

N −1 N −1 5 5 5 5 5 5 5 5 5 5 5

5 5 5 5 5 5 5 5 5 5 5

kp + 2kν 5 5 5 5 5 5 5 5 5 5 5

kp + kν 5 5 5 5 5 ⊞ ⊞ ⊞ 5 5 5
kp kp 5 5 5 5 5 ⊞ ⊞ ⊞ 5 5 5
kp − kν 5 5 5 5 5 ⊞ ⊞ ⊞ 5 5 5
kp − 2kν 5 5 5 5 5 5 5 5 5 5 5

1 1 5 5 5 5 5 5 5 5 5 5 5

0 0 5 5 5 5 5 5 5 5 5 5 5

0 1 lp − lτ lp lp + lτ M −1 0 1 lp − lτ lp lp + lτ M −1

(a) Tx symbol arrangement (□: pilot; ◦: (b) Rx symbol pattern (▽: data detection,
guard symbols; ×: data symbols) ⊞: channel estimation)

Figure: Tx pilot, guard, and data symbols and Rx received symbols

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SISO OTFS system with fractional Doppler

N −1 N −1 5 5 5 5 5 5 5 5 5 5 5

kp + 2kν + 2k^ 5 5 5 5 5 5 5 5 5 5 5

kp + 2kν kp + kν + k^ 5 5 5 5 5 ⊞ ⊞ ⊞ 5 5 5
kp + kν 5 5 5 5 5 ⊞ ⊞ ⊞ 5 5 5
kp kp 5 5⊞ ⊞ ⊞ 5 5 5
5 5 5

kp − kν 5 5 5 5 5 ⊞ ⊞ ⊞ 5 5 5
kp − 2kν kp − kν − k^ 5 5 5 5 5 ⊞ ⊞ ⊞ 5 5 5
kp − 2kν − 2k^ 5 5 5 5 5 5 5 5 5 5 5

0 0 5 5 5 5 5 5 5 5 5 5 5

0 1 lp − lτ lp lp + lτ M −1 0 1 lp − lτ lp lp + lτ M −1

(a) Tx symbol arrangement (□: pilot; ◦: (b) Rx symbol pattern (▽: data detection,
guard symbols; ×: data symbols) ⊞: channel estimation)

Figure: Tx pilot, guard, and data symbols and Rx received symbols

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MIMO OTFS system
N −1 ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕
⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕
^
kp + 2kν + 2k ⋄ ⋄ ⋄ ⋄ ⊕ ⊕ ⊕ ⊕
⋄ ⋄ ⋄ ⋄ ⊕ ⊕ ⊕ ⊕
kp ⋄ ⋄ ⋄ ⋄ ⊕ ⊕ ⊕ ⊕
⋄ ⋄ ⋄ ⋄ ⊕ ⊕ ⊕ ⊕
^
kp − 2kν − 2k ⋄ ⋄ ⋄ ⋄ ⊕ ⊕ ⊕ ⊕
⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕
0 ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⋄ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕
0 lp−lτ lp M −1 0 lp−lτ lp +lτ +1 M −1 0 lp−lτ lp +2lτ +2 M −1

(a) Antenna 1 (×: antenna 1 (b) Antenna 2 (♢: antenna 2 (c) Antenna 3 (⊕: antenna
data symbol) data symbol) 3 data symbol)

Figure: Tx pilot, guard, and data symbols for MIMO OTFS system (□: pilot; ◦: guard)
N −1 5 5 5 5 5 5 5 5 5 5 5
5 5 5 5 5 5 5 5 5 5 5
5 5 5 5 5 5 5 5 5 5 5
^ 5
kp + kν + k 5 5 ⊞ ⊞ ⊠ ⊠ ⊗ ⊗ 5 5

kp 5 5 5 ⊞ ⊞ ⊠ ⊠ ⊗ ⊗ 5 5
^ 5
kp − kν − k 5 5 ⊞ ⊞ ⊠ ⊠ ⊗ ⊗ 5 5
5 5 5 5 5 5 5 5 5 5 5
5 5 5 5 5 5 5 5 5 5 5
0 5 5 5 5 5 5 5 5 5 5 5
0 lp lp +lτ +1 M −1

Figure: Rx symbol pattern at antenna 1 of MIMO OTFS system (▽: data detection,
⊞, ⊠, ⊗: channel estimation for Tx antenna 1, 2, and 3, respectively)
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Multiuser OTFS system – uplink

N −1 ⋄ ⋄ ⋄ ⋄ ⋄
⋄ ⋄ ⋄ ⋄ ⋄
kp + 2kν + 2k^ ⋄ ⋄
⋄ ⋄
kp ⋄ ⋄
⊕ ⊕ ⊕ ⊕
kp − 2kν − 2k^ ⊕ ⊕ ⊕ ⊕
⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕
0 ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕ ⊕
0 lp−lτ lp M −1 0 lp−lτ lp +lτ +1 M −1 0 lp−lτ lp +2lτ +2 M −1

(a) User 1 (×: user 1 data (b) User 2 (♢: user 2 data (c) User 3 (⊕: user 3 data
symbol) symbol) symbol)

Figure: Tx pilot, guard, and data symbols for multiuser uplink OTFS system (□: pilot; ◦:
guard symbols)

—————
*P. Raviteja, K. T. Phan, and Y. Hong, “Embedded pilot-aided channel estimation for OTFS in
delay-Doppler channels,” IEEE Trans. on Veh. Technol., vol. 68, no. 5, pp. 4906-4917, May
2019.

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SISO-OTFS performance with the estimated channel
Simulation parameters: Carrier frequency of 4GHz, sub-carrier spacing of
15KHz, M = 512, N = 128, 4-QAM signaling, LTE EVA channel model, and
MP detection.
Let SNR p and SNR d denote the average pilot and data SNRs
Channel estimation threshold is 3σp , where σp2 = 1/SNR p is effective noise
power of the pilot signal
10-1
k̂ = 2
10-1
30 Kmph k̂ = 5
120 Kmph Full Guard
10-2
500 Kmph Ideal
10-2 Ideal

BER
10-3
BER

10-3 N = 128, M = 512, l τ = 20,

N = 128, M = 512, l τ = 20, -4
SNRp= 50 dB, 4-QAM
10
SNRp= 40 dB, 4-QAM
10-4

10-5
10 12 14 16 18
10-5 SNRd in dB
10 12 14 16 18
SNRd in dB
(a) BER for estimated channels of different (b) BER for estimated channels of
Integer Dopplers Fractional Doppler
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Our recent publications

1 T. Thaj, E. Viterbo, and Y. Hong, ”Orthogonal Time Sequency Multiplexing

Modulation: Analysis and Low Complexity Receiver Design”, IEEE Trans. on
Wireless Commun., vol. 20, no. 12, pp. 7842-7855, Dec. 2021.
2 T. Thaj and E. Viterbo, ”Low-Complexity Linear Diversity-Combining
Detector for MIMO-OTFS”, IEEE Wireless Commun. Lett., vol. 11, no. 2,
pp. 288-292, Feb. 2022.
3 Y. Hong, T. Thaj, and E. Viterbo, Delay-Doppler Communications: Principles
and Applications. Academic Press - Elsevier, 2/2022, ISBN:9780323850285.

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 OTFS in LEO Satcom

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OTFS in LEO Satcom

LEO satellites circle the earth at an altitude of 500 − 2000 km.

LEO satellites orbit the earth at a speed of 7 − 8 km/s
For example, a LEO satellite’s velocity at 1500km altitude is 7.1172 km/s.
When fc = 20GHz, the maximum Doppler shifts can be upto 400 kHz.
Recently, OTFS-based LEO satcoms were investigated [1-4].
*A. Bora, K. Phan, Y. Hong, “Spatially Correlated MIMO-OTFS for LEO Satellite Communication Systems,” IEEE ICC Workshop on OTFS, Seoul, 2022.
*X. Zhou, et al., “Joint Active User Detection and Channel Estimation for Grant-Free NOMA-OTFS in LEO Constellation Internet- of-Things,” 2021 IEEE
ICCC, pp. 735–740, 2021.
*T. Li, et al., “OTFS modulation performance in a satellite-to-ground channel at sub-6-GHz and millimeter-wave bands with high mobility,” Frontiers of
Information Technology and Electronic Engineering, 2021.
*X. Zhou, et al., “Active Terminal Identification, Channel Estimation and Signal Detection for Grant-Free NOMA-OTFS in LEO Satellite
Internet-of-Things,” arXiv:2201.02084, 2022.

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OTFS in LEO Satcom
LEO satcom channel:
P
X
h(τ, ν) = hi′ δ(τ − τi )δ(ν − νi )
i=1

Delay taps [3GPP-TR38.901]:

τi = τi,norm × DSdesired

τi,norm is the additional delay over the first arrival delay

DSdesired is scaling parameter that makes the delay spread values span the
range in channel measurements corresponding to typical 5G evaluation
scenarios.

(*) “5G Study on channel model for frequencies from 0.5 to 100 GHz”, (3GPP TR 38.901
version 16.1.0 Release 16), Nov. 2020.
(*) “3rd Generation Partnership Project; Technical Specification Group Radio Access
Network; Study on New Radio (NR) to support non-terrestrial networks (Release 15)”, 3GPP
TR 38.811 V15.3.0, July 2020.
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OTFS in LEO Satcom

Doppler shifts [3GPP-TR38.811]:

v cos α cos φ vsat R

fd = (fc + fsat ) , fsat = fc cos θ, cos θ = cos α
c c R +h

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OTFS in LEO Satcom (Noiseless)

PP
SISO-OTFS I/O: r = Gs, and G = i=1 hi′ Πli ∆(ki ) .
MIMO-OTFS I/O: rMIMO = GMIMO · sMIMO

G(1,1) G(1,nT ) hi′ (1,1) hi′ (1,nT )

   
··· ···
P
 . .. .  X  . .. .  ⊗ Πli ∆(ki )

GMIMO = . . . =  . . .
 . .   . . 
i=1
G(nR ,1) ··· G(nR ,nT ) ′ (nR ,1)
hi ··· hi′ (nR ,nT )
| {z }
Hi

If Rx/Tx have antenna correlations Rrx and Rtx , whitening transformation

can be applied to remove spatial correlation on channel
c
rMIMO = GcMIMO · xMIMO → rMIMO
w
= GMIMO · xMIMO

(*) A. Bora, K. Phan, Y. Hong, “Spatially Correlated MIMO-OTFS for LEO Satellite Communication
Systems,” IEEE ICC Workshop on OTFS, Seoul, 2022.

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Simulation Results

(a) OTFS vs OFDM (b) MIMO-OTFS (corr. vs decorr.)

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 Special Thanks to

E. Viterbo, T. Thaj, A. Bora, K. Phan, and P. Raviteja

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References I
1 R. Hadani, S. Rakib, M. Tsatsanis, A. Monk, A. J. Goldsmith, A. F. Molisch, and R.
Calderbank, “Orthogonal time frequency space modulation,” in Proc. IEEE WCNC, San
Francisco, CA, USA, March 2017.
2 R. Hadani, S. Rakib, S. Kons, M. Tsatsanis, A. Monk, C. Ibars, J. Delfeld, Y. Hebron, A.
J. Goldsmith, A.F. Molisch, and R. Calderbank, “Orthogonal time frequency space
modulation,” Available online: https://arxiv.org/pdf/1808.00519.pdf.
3 R. Hadani, and A. Monk, “OTFS: A new generation of modulation addressing the
challenges of 5G,” OTFS Physics White Paper, Cohere Technologies, 7 Feb. 2018.
Available online: https://arxiv.org/pdf/1802.02623.pdf.
4 R. Hadani et al., “Orthogonal Time Frequency Space (OTFS) modulation for
millimeter-wave communications systems,” 2017 IEEE MTT-S International Microwave
Symposium (IMS), Honololu, HI, 2017, pp. 681-683.
5 A. Fish, S. Gurevich, R. Hadani, A. M. Sayeed, and O. Schwartz, “Delay-Doppler channel
estimation in almost linear complexity,” IEEE Trans. Inf. Theory, vol. 59, no. 11, pp.
7632–7644, Nov 2013.
6 A. Monk, R. Hadani, M. Tsatsanis, and S. Rakib, “OTFS - Orthogonal time frequency
space: A novel modulation technique meeting 5G high mobility and massive MIMO
challenges.” Technical report. Available online:
https://arxiv.org/ftp/arxiv/papers/1608/1608.02993.pdf.
7 R. Hadani and S. Rakib. “OTFS methods of data channel characterization and uses
thereof.” U.S. Patent 9 444 514 B2, Sept. 13, 2016.
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References II

8 Xiang-Gen Xia, “Precoded and vector OFDM robust to channel spectral nulls and with
reduced cyclic prefix length in single transmit antenna systems” in IEEE Transactions on
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