An Overview of OTFS For Internet of Things Concepts Benefits and Challenges

7596 IEEE INTERNET OF THINGS JOURNAL, VOL. 9, NO.
10, MAY 15, 2022
An Overview of OTFS for Internet of Things:

Concepts, Benefits, and Challenges
Lixia Xiao , Member, IEEE, Shuo Li, Ying Qian , Da Chen , Member, IEEE, and Tao Jiang , Fellow, IEEE
Abstract—The Internet of Things (IoT) is envisioned to connect robustness against multipath fading [5]. In particular, it has
everything, spanning from terrestrial to nonterrestrial termi- been widely used in both the fourth-generation (4G) and the
nals, where reliable communication is expected to be allowed fifth-generation (5G) cellular systems. To further improve the
in both time-invariant and time-variant wireless channels. Since
classic orthogonal frequency-division multiplexing (OFDM) mod- spectral efficiency and system performance of OFDM, a vari-
ulation, which has been widely used in both the fourth-generation ety of innovative multicarrier waveforms, such as generalized
(4G) and the fifth-generation (5G) cellular systems, is sensitive frequency-division multiplexing (GFDM), filter bank multi-
to high Doppler effect, it is challenging to satisfy the ever- carrier (FBMC), and unified filter multicarrier (UFMC) have
growing demands of future IoT. To circumvent this issue, the been investigated in [6]–[13], which exhibit their respective
orthogonal time–frequency space (OTFS) scheme is proposed,
which modulates the information bits in both the delay and benefits in the presence of different communication scenarios.
the Doppler domains, and exhibits beneficial advantages in both However, the aforementioned waveforms are mainly designed
static and high-mobility wireless channel scenarios. In this article, for the static or low-mobility channel, and would suffer severe
we present a comprehensive overview of OTFS for IoT, includ- performance loss in the context of high-mobility and complex
ing the current transceiver design, the potential benefits, the time-variant channels due to the seriously negative impact of
challenge issues, as well as future design guidelines.
the high Doppler effect [14]–[16]. Pursuing the objective of
Index Terms—Internet of Things (IoT), orthogonal frequency- meeting the requirements of future IoT, novel waveforms are
division multiplexing (OFDM), orthogonal time–frequency space urgently to be developed.
(OTFS), time-variant channel, transceiver design.
Recently, orthogonal time–frequency space (OTFS) mod-
ulation, which modulates the information bits in the delay-
I. I NTRODUCTION Doppler (DD) domain rather than in the conventional time–
NTERNET of Things (IoT) aims to connect everything frequency (TF) domain, constitutes an attractive option for the
I at any time and place, where the user terminals include
smart home, wearable devices, unmanned aerial vehicles, high
high-mobility scenarios. Specifically, owing to its ability of
transforming a time-variant channel into a two-dimensional
speed-trains, low-Earth-orbit satellites, and so on [1]–[4]. As (2-D) quasi-time-invariant channel, it is more robust to high
a result, the wireless channels in future IoT may varied from Doppler spread. Hence, after it was first published in [18],
static channel to high-mobility channel, or from time-invariant extensive research has been fuelled in [19] and [91].
channel to fast time-variant channel, where reliable communi- Specifically, the original concept of OTFS was proposed
cation becomes challenging. Accordingly, designing efficient without guard interval (GI) [18], where the ideal waveform
air-interface techniques plays a vital role for future IoT. was employed for perfect signal recovery. Hence, the spec-
Specifically, for the sake of obtaining reliable communi- tral efficiency can be significantly improved in contrast to the
cation in the context of wireless channel variations, a wide classic OFDM associated with cyclic prefix (CP) occupying
range of advanced wireless air interface techniques have up to 20% of frame length. In general, the information bits
been proposed in decades. Especially, orthogonal frequency- are first mapped in the DD domain by means of employ-
division multiplexing (OFDM) was proposed as a classic ing amplitude-phase modulation (APM). Then, a combination
multicarrier waveform for broadband wireless communica- of the inverse symplectic finite Fourier transform (ISFFT) as
tions, due to its low complexity implementation and strong well as transmit windowing is applied. After employing the
Heisenberg transform, the TF modulated signal is converted
Manuscript received July 19, 2021; revised October 8, 2021; accepted to the time-domain signal for transmission over the wire-
November 29, 2021. Date of publication December 6, 2021; date of current
version May 9, 2022. This work was supported in part by the National Key less channel. The corresponding reverse operations are carried
Research and Development Program of China under Grant 2020YFB1807100; out for signal detection at the receiver. The wide-ranging
in part by the National Science Foundation of China under Grant 62001179; studies of this OTFS scheme, including the comparison of
and in part by the Fundamental Research Funds for the Central Universities
under Grant 2020kfyXJJS111. (Corresponding author: Tao Jiang.) performance [20]–[24], the effects of nonlinear power ampli-
Lixia Xiao is with the Research Center of 6G Mobile Communications fier [25], the effects of channel estimation [26]–[28], the
and Wuhan National Laboratory for Optoelectronics, Huazhong University design of low-complexity receiver [29]–[36], as well as the
of Science and Technology, Wuhan 430074, China (e-mail: lixiaxiao@
hust.edu.cn). extension of multi-input and multi-output (MIMO) [37]–[39]
Shuo Li, Ying Qian, Da Chen, and Tao Jiang are with the Research Center have been investigated.
of 6G Mobile Communications, School of Cyber Science and Engineering, To further simplify the implementation, the concept of
Huazhong University of Science and Technology, Wuhan 430074, China
(e-mail: tao.jiang@ieee.org). OFDM-based OTFS was conceived in [40] as well as its
Digital Object Identifier 10.1109/JIOT.2021.3132606 MIMO arrangement was developed in [41], where only
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XIAO et al.: OVERVIEW OF OTFS FOR INTERNET OF THINGS: CONCEPTS, BENEFITS, AND CHALLENGES 7597
ISFFT-based preprocessing and symplectic finite Fourier

transform (SFFT)-based post-processing units are padded to
the classic OFDM counterpart. Owing to the low com-
plexity implementation, OFDM-OTFS becomes more attrac-
tive [40]–[56].
For the sake of improving spectral efficiency by reduc-
ing the number of CPs, OTFS with one CP was developed
in [57]–[73]. Since the ideal waveform is challenging to be
designed in practical communication, intersymbol interference
(ISI) will be imposed with the absence of CP. In contrast,
ISI can be efficiently eliminated by means of adding one
CP, which is capable of dramatically improving the spectral
efficiency compared with the OFDM-OTFS counterpart.
Additionally, some variant transceivers have also
been developed, including zero suffix (ZS)-based
OTFS [74], [75], pulse-shaped and circularly pulse-shaped-
based OTFS [76], [77], low out of band (OOB)-based
OTFS [78], [79], as well as index modulation (IM)-aided
OTFS [81], [82]. Moreover, the OTFS technique has also
been extensively studied in the context of multiple access
(MA) [83]–[91], which exhibits substantial advantages over
its OFDM counterpart.
Owing to its beneficial robustness to the Doppler effect and
phase noise, OTFS constitutes an attractive option for future
vehicular networks [93]–[95], underwater acoustic communi-
cations (UACs) [96], [97], nonterrestrial networks [98]–[100],
as well as mmwave and Terahertz communication [101]–[107],
which are popular wireless communication scenarios in future
IoT. Besides its resilience to time-varying channel, it also
exhibits the advantage of lower peak to average power ratio
(PAPR) over OFDM counterpart [108]–[112]. On account of
good compatibility with OFDM, OTFS can also be regarded
as a compelling alternative for some other IoT communication Fig. 1. Structure of this survey paper.
scenarios.
delay of the ith propagation path can be expressed as
Inspired by this, in this article, we provided a comprehensive
overview of OTFS for IoT, including its original concept, its di
τi = (1)
system design, as well as its future design guidelines. Fig. 1 c
illustrates the structure of this article. Explicitly, Section II where c denotes the speed of light. Assuming that there are P
presents the wireless channel of IoT. In Section III, the concept propagation paths, the CIR of the time-invariant channel can
of OTFS for IoT is introduced. Transceiver design for OTFS be expressed as
and its MIMO extension are investigated in Sections IV and V,

P
respectively. OTFS-aided MA for IoT network is presented in h(τ ) = hi δ(τ − τi ) (2)
Section VI. Section VII summarizes the potential benefits for i=1
IoT, while its future challenging design issues are presented
where hi denotes the complex attenuation factor. The contin-
in Section VIII. Finally, Section IX concludes this article.
uous received signal can be expressed as

r(t) = h(τ )s(t − τ )dτ
II. I OT W IRELESS C HANNEL AND OFDM S YSTEM
P
In this section, we present the basic concepts of the time- = hi δ(τ − τi )s(t − τ )dτ
invariant channel and the time-variant channel of IoT, OFDM i=1
system model, as well as the motivation of the design of OTFS.
P
= hi s(t − τi ). (3)
i=1
A. Time-Invariant Multipath Channel After sampling, the discrete received signal can be
Fig. 2(a) characterizes the property of time-invariant chan- represented by
nel, where the channel impulse response (CIR) is time invari-
P
ant for a specific propagation path. Assuming that the ith signal rk = h1 sk + h2 sk−l2 + · · · + hP sk−lP = hi sk−li (4)
propagation distance between transmitter and receiver is di , the i=1
7598 IEEE INTERNET OF THINGS JOURNAL, VOL. 9, NO. 10, MAY 15, 2022
where n and n̂ denote the additive white noise Gaussian

(AWGN) vector whose entries have complex-valued Gaussian
distributions of CN (0, σ 2 ), H and HISI represent the channel
matrix, which can be obtained by
⎡ ⎤
h1
⎢. .. ⎥
⎢ .. . ⎥
⎢ ⎥
⎢ ⎥ P
⎢h ··· h1 ⎥
H=⎢ P ⎥= hi li (6)
⎢ hP h1 ⎥
⎢ ⎥ i=1
(a) ⎢ .. .. ⎥
⎣ . . ⎦
hP ··· h1
⎡ ⎤
0 ··· 0 hP ··· h2
⎢. .. .. .. .. .. ⎥
⎢ .. . . . . . ⎥
⎢ ⎥
⎢ ⎥
hP ⎥
P
⎢0 ··· 0 0 ···
HISI =⎢ ⎥= hi li − li
⎢0 ··· 0 0 ··· 0 ⎥
⎢ ⎥ i=1
⎢ .. .. .. .. .. .. ⎥
⎣. . . . . . ⎦
0 ··· 0 0 ··· 0
(7)
(b)
with
⎡ ⎤ ⎡ ⎤
Fig. 2. Time-variant and time-invariant multipath channels. (a) Time-invariant 0 ··· 0 1 0 ··· 0 0
multipath channel. (b) Time-variant multipath channel.
⎢ .. ⎥ ⎢ .. ⎥
⎢1 . 0 0⎥ ⎢1 . 0 0⎥
=⎢
⎢. ..
⎥
⎥ = ⎢
⎢.
⎥
.. ⎥
⎣ .. .. .. ⎦ ⎣ .. .. ..
. . . . . .⎦
0 ··· 1 0 K×K 0 ··· 1 0 K×K
(8)
as well as 0 and 0 are identity matrices.
In order to eliminate the ISI, the prefix such as zero prefix
(ZP) or CP with a length of C will be added. Taking CP
as an example, the transmitted signal can be expressed as
sc = [sK+C−1 , . . . , sK , s1 , . . . , sK ]. By removing the CP, the
received signal rcp = [r1 · · · rlP−1 · · · rK ] can be formulated by
⎡ ⎤
h1 hP · · · h2
⎢ .. .. .. ⎥⎡s ⎤
⎢. . . ⎥ 1
⎢ ⎥⎢. ⎥
⎢ hP−1 · · · h1 P⎥ . ⎥
⎢ h ⎥⎢⎢. ⎥
⎢ . . ⎥
r =⎢
cp .. .. ⎥ ⎢ sk ⎥
⎢ +n
⎢ ⎥⎢. ⎥ ⎥
⎢ ⎥
⎢ hP · · · h1 ⎥ ⎣ .. ⎦
⎢ . .. . ⎥
⎣ . . . . . ⎦ sK
Fig. 3. Received signal of time-invariant multipath channel.
hP · · · h1 s

Hc
where li denotes the corresponding delay of the ith path and (9)
sk (k = 1, . . . , K) denotes the sequence of transmit symbols.
with
To further elaborate this, Fig. 3 characterizes the received
model of transmit symbol vector s = [s1 , . . . , sK ] commu-
P
nicating over this multipath channel. Observed from Fig. 3, Hc = hi li . (10)
i=1
due to the multipath delay, there are lP symbols consid-
ered as ISI to the next frame signal. According to (4), the
K received symbols r = [r1 , . . . , rK ]T and lP ISI symbols B. Time-Variant Multipath Channel
rISI = [rK+1 , . . . , rK+lP ]T can be expressed as In many wireless systems, the transmitters or receivers
are moving, where the emitted wave is subjected to the
r = Hs + n Doppler effect, resulting in frequency shifts and variant chan-
rISI = HISI s + n̂ (5) nel. Fig. 2(b) characterizes the model of the time-variant
where rISI λi
tv denotes the ISI for the next-frame signal and
is defined by
⎡ j2π λi ⎤
e
⎢ ej2π λi 2 ⎥
λi ⎢ ⎥
=⎢ .. ⎥. (16)
⎣ . ⎦
ej2π λi K .
According to (9) and (10), by adding CP at the transmitter
and removing CP at the receiver, the K received symbols can
be obtained by

P
cp λi
rtv = hi li s + n. (17)
i=1
C. OFDM System
In this section, the system models of the OFDM technique
communicating over the time-invariant and the time-variant
channels are introduced. By analyzing the limitation of OFDM
Fig. 4. Received signal of time-variant multipath channel.
communicating over the time-variant channel, the motivation
of developing OTFS is introduced.
channels. Observed from Fig. 2(b), the Doppler frequency of 1) OFDM Over the Time-Invariant Channel: For an OFDM
the line-of-sight (LOS) path and that of the ith reflected path system with K subcarriers, the inverse fast Fourier transform
can be obtained by (IFFT) operation is first employed for an APM symbol vector
v s. To mitigate the effect of ISI, a block of CP with length
υlos = υmax = fc of C is inserted. Then, the signal with length of (K + C)
c
υi = υmax cos(θi ) (11) is transmitted over the wireless channel. At the receiver, by
removing CP and performing the fast Fourier transform (FFT)
where fc represents the carrier frequency and θi denotes the operation, the received signal can be formulated by
direction of arrival. According to [15], the CIR of the time-
YOFDM = FHc FH s + n (18)
variant dispersive multipath channel can be defined by
H
where F and F are the FFT and the IFFT matrices, respec-

P
h(τ, υ) = hi δ(τ − τi )δ(υ − υi ) (12) tively, and Hc is defined by (10). Moreover, the value of
i=1 FHc FH can be further expressed by
⎡ ⎤
where τi and υi are defined by (1) and (11), respectively. H1
⎢ .. ⎥
According to [15], the received signal over the time-variant FHc FH = D =⎣ . ⎦ (19)
channel can be expressed as Diagonal matrix HK

r(t) = h(τ, υ)s(t − τ )ej2π υ(t−τ ) dτ dυ with the elements of the diagonal matrix being obtained by

P [H1 , . . . , HK ] = FFT([h1 , . . . , hP ]) (20)
j2π υi (t−τi )
= hi s(t − τi )e . (13) where FFT(·) denotes the FFT operation. Therefore, the kth
i=1 received subcarrier can be obtained by
Assuming that T is the sampling interval and f is the
frequency spacing, we have t = kT, τi = li T, and υi = λi f , YOFDM
k = Hk sk + nk (21)
the discrete form of r(t) can be expressed as where sk is the transmitted symbol at the kth subcarrier and

P nk denotes the AWGN noise at the kth subcarrier. Hence, low-
r(k) = hi s(k − li )ej2π λi (k−li ) (14) complexity one-tap equalization can be directly applied.
i=1 2) OFDM in Time-Variant Channel: According to (17), the
received signal over time-variant channel can be expressed as
which is shown in Fig. 4. P
According to (4)–(8), the K received symbols can be
λi li
formulated in matrix form as FHc F = F
tv H
hi FH = D . (22)
i=1 Diagonal matrix

P
λi
rtv = hi s+n
li
Since the equivalent channel matrix FHtv H
c F is no longer a
i=1 diagonal matrix, the received signal at the kth subcarrier will
P
suffer from inter channel interference (ICI) as
λi
tv =
rISI hi li − li s + n̂ (15)
i=1 YOFDM,tv
k = Hk sk + nk + NkICI (23)
Fig. 5. Original concept of OTFS.
Fig. 6. Transformation from TF domain to DD domain.
where NkICI denotes the ICI at the kth subcarrier. By employ- symbols as
ing low-complexity one-tap equalizer, OFDM will suffer ⎡ ⎤
from serious ICI, resulting in significant degradation of bit x11 x12 ··· x1N
⎢ x21 x22 ··· x2N ⎥
error ratio (BER) performance. Hence, how to improve the ⎢ ⎥
X = ⎢. .. .. .. ⎥. (24)
performance of OFDM in the presence of severe ICI has ⎣ .. . . . ⎦
attracted a lot attentions [15]–[17]. Recently, an emerging xM1 xM2 ··· xMN .
OTFS design paradigm, which modulates the signal in the DD
domain instead of the conventional TF domain, constitutes an After operating the 2-D ISFFT, the DD symbols are trans-
attractive option for fast time-varying channel scenarios. Next, formed to a 2-D TF symbols as
the concept of OTFS for IoT network will be introduced.
1 M−1
N−1 nk ml
j2π N −M
Umn = √ xkl e . (25)
MN l=0 k=0
III. OTFS C ONCEPT FOR I OT N ETWORK
A. Concept of OTFS Next, Heisenberg transform and a 2-D windowing are
The concept of OTFS was first introduced in [18], and its applied for the delay-domain symbols as
corresponding system model is portrayed in Fig. 5. As shown
in Fig. 5, the information bits are conveyed by M × N classic M−1
N−1
f (t−nT)
s(t) = Umn gtx (t − nT)ej2π m . (26)
APM symbols, where M is the number of subcarriers and N is
n=0 m=0
the size of time slots. Then, the unit of ISFFT is employed to
transform the DD domain signal into TF domain signal. After After that, the signal s(t) will be transmit-
operating Heisenberg transform, the signal s(t) will be trans- ted over the time-variant channel via (13) as

mitted over the wireless channel. At the receiver, the Wigner r(t) = h(τ, υ)s(t − τ )ej2π υ(t−τ ) dτ dυ.
transform is first employed, SFFT is then carried out for signal At the receiver, Wigner transform is first employed by
recovery.
To be more specific, a block of information bits with length
Ymn = ∗
grx (t − τ )r(t)e−j2π v(t−τ )
dt τ =nT,v=m f . (27)
of MN log2 (L) is first mapped to MN L-APM DD domain
Fig. 7. OTFS for IoT network.
For the sake of signal recovery, the corresponding SFFT C. Matrix-Form Representation
transform is performed by For easy understanding, the matrix-form representation of
the above-mentioned OTFS concept is introduced. According
1 M−1
N−1 −j2π nk ml to (25), the 2-D TF symbol matrix can be reformulated by
N −M
ykl = √ Ymn e . (28)
NM n=0 m=0 U = FM XFH
N (29)
where FM and FH
denote the M-point FFT matrix and the
N
Finally, low-complexity signal detector can be designed N-point IFFT matrix, respectively. Then, the signal of (26)
for OTFS received signal, which will be introduced in can be represented by
Section V.
M FM XFN = Gtx XFN
S = Gtx FH H H
(30)
with
B. From TF to DD Domain
According to [18], a Fourier dual relationship of a grid in the Gtx = diag gtx [0], gtx [T/M], . . . , gtx [(M − 1)T/M] (31)
DD plane and a reciprocal grid in the TF is depicted in Fig. 6, where gtx represents the transmit window function. Based on
where the paraments T and f denote the symbol period and the property of Kronecker product,1 the vector presentation
the subcarrier spacing, respectively. To be more specific, there of S can be presented by
are M points with a resolution of τ = 1/M f upon the delay T
axis of the DD domain grid, which corresponds to M points s = vec(S) = FH N ⊗ Gtx x (32)
having a resolution of f along with frequency axis of the TF
where ⊗ denotes the Kronecker product and x = vec(X).
domain grid. Similarly, there are N points with a resolution of
According to (14), the received signal can be formulated by
( f /N) on the Doppler axis of the DD domain grid, which
corresponds to N points occupying a resolution of T with the rtv = Htv s + n (33)
time axis of the TF domain grid. Moreover, the transformation
where Htv represents the channel matrix, which is associated
from the TF grid to the DD grid can be verified by SFFT,
with the type of prefix.
where an M-dimensional FFT is applied to the columns of
the matrix Umn , and an N-dimensional IFFT is applied to its 1 The Kronecker product obeys the following property: 1) (A⊗B)(C⊗D) =
rows. (AC) ⊗ (BD) and 2) C = AXB ⇒ vec(C) = (BT ⊗ A)vec(X).
TABLE I
C HARACTERISTICS OF VARIOUS WAVEFORMS FOR OTFS
At the receiver, the received signal of (27)–(28) can be IV. T RANSCEIVER D ESIGN FOR OTFS
represented in matrix form by In this section, the transceiver design of OTFS is introduced,
including its waveform design, its variant GI paradigms, as
M (FM Grx R)FN = Grx RFN .
Y = FH (34)
well as its IM extension.
By substituting (32) into (34), its final vector form can be
derived by A. Waveform Design for OTFS
In this section, various waveforms for OTFS are introduced.
y = (FN )T ⊗ Grx rtv
The characteristics of different waveforms are summarized in
= (FN ⊗ Grx )Htv FH N ⊗ Gtx x + (FN ⊗Grx )n (35) Table I.

Heff n̂ 1) Ideal Waveform: According to [31], for the case of ideal
waveform, the transmitting window function of gtx (t) and its
where Heff denotes the equivalent matrix of OTFS and is con- received window function of grx (t) satisfy the biorthogonal
junction with the designed window function as well as the property as
type of GI imposed, which will be detailed in the following
section. Agrx ,gtx (t, f )t=nT+(−τ ,τ ),f =m f +(−ν ,ν )
max max max max
= δ[n]δ[m]qτmax (t)qνmax (f ) (39)
D. OTFS for IoT Network where qa (x) = 1 for x ∈ (−a, a). Therefore, the received
Based on the analysis of matrix-form representation, an signal of (27) can be simplified by
example of an OTFS-based IoT network with U uplink users
Ymn = Hmn X (40)
is shown in Fig. 7. Observed from Fig. 7 that one base station
(BS) simultaneously serves multiple users for both stationary where Hmn = h(τ, v)ej2π vnT e−j2π(v+m f )τ dτ dv. The cor-
IoT terminals and mobile IoT terminals. The DD resources can responding received signal in the DD domain can be
be partitioned by users upon the Doppler domain. Specifically, expressed as
the DD resource composed of the uth user can be given as
1
N−1 M−1
⎧ ! ykl = xk l hw (41)
⎪
⎨ d ∈ S, if k ∈ u NNu , . . . , (u + 1) NNu − 1 NM k−k ,l−l
k =0 l =0
xu [k, l] = l ∈ {0, 1, . . . , M − 1} (36)
⎪
⎩ where hw is the sampling of the impulse response function as
0, otherwise.

h (v, τ ) =
w
h τ , v w v − v , τ − τ e−j2π vτ dτ dv
Moreover, the DD resource can be divided along the delay
domain and the resource of the uth user can be obtained by M−1
N−1
⎧ w(ν, τ ) = 1 · e−j2π (νnT−τ m f)
. (42)
⎨ d ∈ S, if k ∈ {0, 1, . . . , N − 1}
⎪ ! n=0 m=0
xu [k, l] = l ∈ u NMu , . . . , (u + 1) NMu − 1 . (37)
⎪
⎩ By substituting (42) into (41), the received signal of ykl can
0, otherwise. finally be formulated by
" #
e−j2π (−q−κνi ) − 1
Each IoT terminal employs the allocated DD domain resources P Ni
and independently performs OTFS modulation to transmit ykl ≈ hi e−j2π νi τi
−j 2π
Ne N ( −q−κ ν )
i −N
data. According to (35), the received signal at the BS can i=1 q=−Ni
be formulated by × xk−kν +q ,l−lτ (43)
i N i M

U where Ni denotes the number of neighbor points affected by
y= Hueff xu + n (38) the inter Doppler interference (IDI). For the case of no frac-
u=1 tional Doppler, we have Ni = 0 and the received signal in DD
where Hueffand xu denote the equivalent channel matrix and the domain can be simplified by
transmitted signal of the uth user in the DD domain, respec-
P
tively. For signal recovery, the OTFS demodulation will be ykl = hi e−j2π νi τi xk−kν . (44)
i N, l−lτi M
carried out at the BS. i=1
TABLE II
PARAMENTS C ALCULATION OF OTFS
2) Rectangular Waveform: For the rectangular waveform,

the transmitting window function can be obtained by
Gtx = Grx = IM . (45)
Therefore, the received signal of (35) can be further simpli-
fied. Since the classic OFDM system employs the rectangular
waveform, the implementation of OTFS with a rectangular
waveform can be easily carried out based on the current struc-
ture of OFDM. To facilitate the performance comparison, the
simulation results of OTFS are carried out in the context of a
rectangular waveform in the following sections.
3) Other Waveforms: To further investigate the benefits of
OTFS, variant waveforms are designed. Specifically, prolate Fig. 8. Types of GI for OTFS.
spheroidal waveforms (PSWs) [57] and circular pulse-shaped
(CPS) waveforms [76] are employed to reduce OOB. The PSW
1) OTFS Without GI: For the case of OTFS without CP
function ψn is defined by
or any other GI, ISI will be invoked due to the dispersive
QT PW QT ψn = γn ψn (46) multipath channel. According to (15), the received signal of
OTFS without GI can be obtained by
where QT and PW denote a time truncator and an ideal low-
0−cp pre−frame
pass filtering operator, respectively. In (43), γn is the nth y1−cp = Heff x + HISI + n̂
" P #
eigenvalue of QT PW QT and ψn denotes the PSW functions. H
λ i li
According to [57], the 2-D windowing function in (31) is = (FN ⊗ Grx ) hi FN ⊗ Gtx x
denoted as i=1

0−cp
gtx (t) = g(n,m) (t) = g (t − mT)Ts ej2π n f (t−mT) (47) " P
Heff
#pre
H
where g(t) is a prototype pulse shape having length Ts = + (FN ⊗ Grx ) hi λi
−
li li
FN ⊗ Gtx xpre +n̂
NT. Therefore, the time-domain transmitted signal in (26) is i=1

obtained as pre−frame
HISI
M−1
N−1 (49)
f (t−mT)
s(t) = Xnm · g (t − mT)Ts · ej2π n . (48)
0−cp
n=0 m=0 where Heff denotes the equivalent channel model, and
Moreover, the Dolph–Chebyshev window is also adopted li , li , and λi are defined in (8) and (16), respectively.
in [77] to enhance the sparsity of the effective channel in the Assuming that the delay τi and νi are known, the parameters
DD domain. In addition to pulse shaping schemes operated in of li and λi can be obtained by [18]
the TF domain, a time-domain windowing scheme is proposed li ki ki
τi = , νi = , λi = (50)
in [78] for OOB power radiation. To be more specific, the M f NT MN
properties of the aforementioned waveforms are presented in where τi and νi are defined by (1) and (11), respectively. In par-
Table I. ticular, Table II presents an example of parameter calculation
for OTFS with a specific time-variant channel.
B. Prefix/Suffix Selection for OTFS For the case of ideal waveform, the biorthogonal property
In order to suppress ISI, the prefix/suffix vector will be of Gtx and Grx holds true, hence, the received signal can be
affixed as a GI for each transmitted symbol vector. In OTFS attained by (40) without ISI imposed.
systems, the adopted prefix/suffix schemes can be roughly For the case of nonideal waveform, the biorthogonal prop-
divided into five fundamental types, as illustrated in Fig. 8. To erty of Gtx and Grx may not hold true, ISI will be encountered
elaborate a little further, the system models with the certain by the previous frame signal, which can be written by
pre−frame
GI adopted are introduced as follows. HISI in (49).
TABLE III
2) OTFS With One CP: For the case of OTFS with one C OMPARISONS FOR VARIOUS GI-BASED OTFS S YSTEMS
CP, N blocks signal are first vectorized, the last C symbols
of the vectorized signal are copied to the beginning, as shown
in Fig. 8. According to (17) and (35), the received signal of
OTFS with one CP can be formulated by
1-cp
y1-cp = Heff x + n̂
" P #
H
λi
= (FN ⊗ Grx ) hi li FN ⊗ Gtx x + n̂. (51)
i=1

1-cp
Heff with
3) OTFS With N CP: The structure of OTFS with N CP
P
λi ,n
scheme is similar to that of OFDM, where the last C symbols H̃n = hi lMi , n = (1, 2, . . . , N). (56)
are copied to the beginning at each time slot. According to (17) i=1
and (35), the received signal yN−cp and equivalent channel
N−cp
matrix Heff are obtained by 6) Examples of OTFS With Various GIs: As an exam-
ple, let us consider an OTFS transmission associated with
N−cp
yN−cp = Heff x + n̂ M = N = 2 communicating over the time-variant channel. For
⎡ ⎤
H1 the sake of simplicity, the rectangular waveform is employed
⎢ H2 ⎥ having Gtx = Grx = I2 . We are interested in comparing
⎢ ⎥ H
= (FN ⊗ Grx )⎢ .. ⎥ FN ⊗ Gtx x + n̂ the sparsity of the equivalent channel matrix with respect to
⎣ . ⎦
different types of GI, which is capable of evaluating the attain-
HN able BER performance. The specific examples are shown in

N−cp Fig. 9, where the equivalent channel matrices are calculated
Heff
by (49) and (51)–(55). Observed from Fig. 9 that the spar-
(52)
sity of one CP-based OTFS is similar to that of N CP-based
with OTFS, and both of them are lower than that of one ZS-based

P OTFS. Although the sparsity of N ZS-based OTFS is the low-
λi ,n
Hn = hi lMi , n = (1, 2, . . . , N) est, it is obvious that it cannot provide full diversity due to the
i=1 existence of amounts of zeros. Explicitly, the comparisons for
⎡ ⎤
ej2π λi [(n−1)N+1] various GI-based OTFS systems are presented in Table III.
λi ,n ⎢ .. ⎥
=⎣ . ⎦. (53)
ej2π λi (nN) C. OTFS With Index Modulation
To further exploit the benefits of multidimensional modu-
4) OTFS With One ZS: As shown in Fig. 8, for case of one
lation, OTFS with IM (OTFS-IM) was proposed in [81]. In
ZS-aided OTFS system, one GI is added at the end of vector-
the OTFS-IM scheme, the subcarriers at each time slot are
ized signal, during which no signal is transmitted. According
divided into G groups. Each group is composed of k subcar-
to (15) and (35), the received signal y1−zs and the equivalent
riers, only ka out of k subcarriers are activated to transmit
channel matrix H1−zs
eff are given by
information and the activated indices are considered as an
y1−zs = H1−zs
eff x + n̂
additional means to convey information.
$ To be more specific,
" P # the information bits of B = G g
H g=1 B are partitioned into G
λi g g
groups, each of which is split into two parts as Bg = B1 + B2 .
= (FN ⊗ Grx ) hi li FN ⊗ Gtx x + n̂. (54)
g ka
i=1 A block of information bits with a length of B1 = log2 (Ck )
n is the bino-
1−zs is used to select activated indices, where Cm
Heff
mial coefficient and · denotes the floor operator. The left
g
5) OTFS With N ZS: For the case of OTFS with N ZS, as blocks of information bits with a length of B2 = ka log2 L are
shown in Fig. 8, the ZS GI is padded to the ending at each mapped into L-ary APM symbol and transmitted by the acti-
time slot. The received signal yN−zs and the equivalent channel vated subcarriers. Hence, the nth n = (1, 2, . . . , N) column
matrix HN−zs
eff can be obtained by signal of (24) can be formulated by
yN−zs = HN−zs
eff x + n̂
⎡ ⎤ xn = [x1n , x2n , . . . , xMn ]
H̃1
⎢ ⎥ = x1n , . . . , xkn , x(k+1)n , . . . , x(2k)n , . . . , x(M−k+1)n , . . . , xMn
⎢ H̃2 ⎥ H ⎡ ⎤
= (FN ⊗ Grx )⎢
⎢ ..
⎥ F ⊗ Gtx x + n̂. (55)
⎥ N
⎣ . ⎦ ⎢ ⎥
=⎢ n n n n ⎥
⎣. . . , 0, s1 , . . . , ska , 0, . . . , , . . . , 0, s(M/k−1)ka +1 , . . . , sMka /k , 0, . . .⎦.
H̃N
The first group The last group
N−zs
Heff (57)
Fig. 9. Examples of different prefix/suffix for OTFS having M = N = P = 2, Gtx = Grx = I2 , l = [0, 1], and k = [0, 1].
The main difference of OTFS-IM and OTFS lies in the bit- single-tap frequency-domain channel equalization. According
to-symbol mapping. After completing the mapping by (57), to (35), it is obvious that they may not be directly
the conventional OTFS modulation will be invoked. At the applied to OTFS. For the sake of obtaining near-optimal
receiver, conventional OTFS demodulation is first employed. BER performance with low-complexity imposed, extensive
Then, the information bits can be recovered by corresponding researches have been investigated on OTFS signal detection.
bit-to-symbol demapping. Since the equivalent channel matrix varies from different GIs,
signal detectors can be separately designed by exploiting their
special structure, which are introduced in detail as follows.
D. Signal Detection for OTFS
Detectors for Ideal Waveform-Based OTFS: The concept of
1) Overview of OTFS Detectors: Conventional detectors OTFS was first proposed with ideal waveform in [18], where
designed for the classic OFDM system mainly rely on the signal can be recovered by exploiting the benefits of Turbo
equalization. After that, numerous low-complexity detectors

were developed in [29]–[36]. Specifically, in [29], a well-
known Markov chain Monte Carlo (MCMC) sampling-based
detection scheme was investigated in the cases of perfect and
imperfect channel state information (CSI). In [30] and [31], a
low-complexity message passing (MP) detector was designed
by exploiting the sparsity of equivalent channel matrix of (35),
which was also suitable for other GI-based OTFS counter-
part. By exploiting the block circulant nature of the equivalent
channel matrix, low-complexity linear detectors, such as zero
force (ZF) and minimum mean-square error (MMSE), were (a) (b)
investigated in [32], which was capable of reducing the com-
plexity order from O(M 3 N 3 ) to O(MN log 2(MN)) without Fig. 10. Factor graph of MP detector for OTFS. (a) Message passing from
performance loss. To further reduce the complexity of the MP xi to yj . (b) Message passing from yj to xi .
algorithm, a damped generalized approximate MP (GAMP)
algorithm was proposed in [36] by optimizing the damping
factors with the aid of deep learning (DL) techniques. It was precoding and signal detection algorithm was introduced in
found in [36] that the designed GAMP algorithm was capable the context of massive MIMO downlink communication. For
of outperforming conventional GAMP and MP algorithms at performance evaluation, some specific examples are detailed as
a reduced complexity. follows.
Detectors for N-CP-Based OTFS: To facilitate the imple- 2) Examples of Detectors: For performance evaluation, we
mentation of OTFS, OFDM-OTFS was proposed in [40] and introduce three common detectors: 1) maximum likelihood
its equivalent channel matrix is derived by (52), which was (ML); 2) MMSE; and 3) MP detectors, which are used in
totally different from that of ideal waveform-based OTFS. The our following simulation results.
corresponding signal detector was investigated in [53]–[56]. ML Detector: According to (35), the ML detector of OTFS
Explicitly, Li et al. [53] exploited a novel stopping crite- can be formulated by
rion to further reduce the complexity of the MP algorithm.
And an improved approximate MP (AMP) algorithm based xML = arg min y − Heff x 2
(58)
x∈X
on covariance processing was also designed in [53], which
exhibits better performance over MP counterpart at near sim- where X denotes the set of vectorized OTFS symbols. The
ilar complexity. In [54], the IDI was analyzed, as well as an complexity order of the ML detector is O(2MNL ), which
iteration strategy among the least-squares minimum residual- becomes unaffordable for a large number of MNL.
based channel equalizer was designed to mitigate the IDI. MMSE Detector: According to (35), the classic MMSE
To improve the performance of conventional linear detector, detector is formulated by
Jin et al. [55] proposed a novel two-stage equalizer, where slid-
ing window-assisted MMSE (SW-MMSE) was first employed −1
xMMSE = HH
eff Heff Heff + σ I
H 2
. (59)
in the TF domain, and then another equalizer was adopted in
the DD domain to mitigate the residual ISI of the first stage. MP Detector: According to [30], the factor graph of the
Additionally, linear MMSE-based parallel interference can- proposed MP detector is presented in Fig. 10, where the
cellation (LMMSE-PIC) was characterized for LDPC-assisted messages are passing between the observation node yi i =
OTFS system. (1, . . . , MN) to the variable node xj j ∈ (1, MN). Specifically,
Detectors for One-CP-Based OTFS: One CP-based OTFS according to (35), the observation node yi associated with xj
is also one of the attractive alternatives, due to its high can be expressed as
spectral efficiency. Its low-complexity detectors are investi-

gated in [67]–[73]. To be more specific, a low-complexity yi = hij xj + hik xk + ni (60)
MMSE detector was also designed in [67] for one CP-based k=j
OTFS system, whose performance approaches that of con-
ventional MMSE detector at a significantly reduced complex- where hij denotes the element of the ith row and the jth col-
ity. In [69], a 2-D adaptive multichannel decision feedback umn of Heff . According to [30] and Fig. 10, the messages
equalizer (DFE) was designed by exploiting the charac- from the variable node xj to the observation node yi can be
teristic of OTFS modulation as well as the sparsity of obtained by
the channel matrix. In [70], both iterative combining MP
(ICMP) and turbo MP (TMP) algorithms are developed %
MN
for fractionally spaced sampling (FSS)-based OTFS system. pi,j snj ∝ p yk |xj = snj
k=1,k=i
By employing a novel probability clipping (PC) solu- ⎛ ⎞

tion, a low complexity matched filtering (MF)-based MP %
MN −yk − ukj − hkj snj
was proposed in [71], which exhibits reduced complexity = exp⎝ ⎠ (61)
owing to the MF operation. Moreover, a low complexity k=1,k=i
2σkj2
Fig. 11. Performance comparison of ML detector-based OTFS with different Fig. 13. Performance comparison of uncoded OTFS and OFDM with
GIs using (M, N, L) = (2, 2, 2). The number of paths in the DD domain is (M, N, L) = (16, 16, 2) at different moving speeds. The MP detector is
P = 2 for the velocity of 506 km/h. employed for both OTFS and OFDM systems. The number of paths in the
DD domain is P = 3 with τmax = (2/M f ) as well as υmax = (4/NT).
conjunction with different types of GI using ML and MP

detectors, respectively. For the sake of obtaining the ML detec-
tor’s performance, the parameters are set as P = 2 with
τmax = (1/M f ), M = N = 2, as well as υmax = (1//NT)
for the velocity of 506 km/h.
It is shown in Fig. 11 that the performance of a one-CP-
based OTFS system approaches that of N-CP-based coun-
terparts. Both of them are capable of providing significant
performance gains over other GI-based OTFS systems. The
performance gap among these GI-based OTFS systems is
invoked by the structure of equivalent channel matrices, which
have been elaborated in Section IV. Observed from Fig. 12 that
Fig. 12. Performance comparison of MP detector-based OTFS with different
GIs using (M, N, L) = (16, 16, 2). The number of paths in the DD domain is the performance of 0-CP-based, one-CP-based, N-CP-based,
P = 2. one-ZS-based, and ideal waveform-based OTFS systems is
close to each other. Only N-ZS-based OTFS system exhibits
where ukj and σkj2 denote the mean and variance. In particular, error floor at high signal-to-noise ratio (SNR) regions. This is
these values are obtained from the observation node yi as because the equivalent channel matrix of N-ZS cannot provide

MN full diversity.
(t−1) n n
uij = hik pik sk sk In summary, the ideal waveform is the best choice due to the
k=1,k=j snk ∈S high spectral efficiency with the absence of CP. However, it is
challenging to design an ideal waveform in practice. Therefore,

MN
n H
σij2 = p(t−1)
ik sk hik snk hik snk it is beneficial for the OTFS system to select one CP or N-CP
k=1,k=j snk ∈S
to strike a tradeoff amongst spectral efficiency, the attainable
2 BER, as well as the affordable implementation cost.

MN
(t−1) n n
2) Performance Comparison of OTFS and OFDM: Fig. 13
−
k k + σ
2
h p
ik ik s s (62) compares the BER performance of OTFS to that of OFDM
m=1,m=j sn ∈S k

system in conjunction with different moving speeds of 64
and 256 km/h. For the sake of making a fair comparison,
where S denotes the set of APM symbols and σ 2 is the
the MP detector is employed for OTFS and OFDM systems.
variance of noise.
To be more specific, the final equivalent channel matrix of
the OFDM system can be obtained using the similar process
E. Performance Evaluation of (35), hence the MP detector can be employed rather than
In this section, simulation results are carried out for OTFS conventional one-tap equalization. It is shown in Fig. 13 that
and OFDM systems having a carrier frequency of fc = 4 GHz the rectangular waveform-based OTFS system offers nearly
and a subcarrier spacing of f = 3.75 KHz, where the CSI the same performance as that of the ideal waveform-based
is assumed known at the receiver. counterpart at both aforementioned speeds. Since the MP-
1) Performance of OTFS With Different GIs: Figs. 11 based time-domain equalizer is employed for OFDM, the
and 12 compare the performance of the OTFS system in effect of Doppler spread can be considered as extra diversity
the MP detector is better than that of the MMSE detector.

Moreover, the MP detector-based OTFS-IM system provides
an SNR gain of about 1.6 dB at the BER of 10−5 over the
OFDM-IM system.
V. MIMO-OTFS S YSTEMS
In this section, the benefits of MIMO-OTFS systems
are investigated, including vertical bell labs space-time
(VBLAST)-aided OTFS, space-time block code (STBC)-aided
OTFS, spatial modulation (SM)-aided OTFS, and MIMO-
aided OTFS-IM systems. We consider a broadband MIMO-
OTFS system employing nt transmit antennas (TAs) and nr
Fig. 14. BER performance comparison of LDPC-aided OTFS and OFDM receiver antennas (RAs). The system models of VBLAST-
with (M, N, L) = (16, 16, 2) at different moving speeds. The number of paths OTFS, STBC-OTFS, SM-OTFS, and VBLAST-OTFS-IM are
in the DD domain is P = 3 with τmax = (2/M f ), as well as υmax = (4/NT).
introduced as follows.
A. VBLAST-OTFS
The VBLAST system is a classic MIMO multiplexing
scheme, where each TA transmits information independently.
In VBLAST-OTFS, the throughput is RV-O = nt log2 L. The
information bit stream with a length of nt LMN is first par-
titioned into nt groups each. The ith group with a length of
LMN is mapped to MN APM symbols as Xi , which has the
same structure of (24). Next, the DD domain Xi symbol matrix
will be modulated by the OTFS technique based on (24)–(26).
Finally, the OTFS modulated signal will be vectorized and
transmitted by the ith TA. At the receiver, the corresponding
OTFS demodulation is applied based on (27) and (28) for each
RA. According to (35), the received signal using equivalent
channel matrix can be formulated as
Fig. 15. Performance comparison of OTFS-IM and OFDM-IM systems with ⎡ ⎤ ⎡ ⎤⎡ ⎤ ⎡ ⎤
(M, N, L) = (16, 16, 4) using MP and MMSE detectors. The number of paths Y1 H11 · · · H1nt x1 n1
in the DD domain is P = 4 with τmax = (3/M f ), as well as υmax = (3/NT). ⎢ .. ⎥ ⎢ .. .. .. ⎥⎢ .. ⎥ + ⎢ .. ⎥ (63)
⎣. ⎦ = ⎣ . . . ⎦⎣ . ⎦ ⎣ . ⎦
Ynr Hnr 1 ··· Hnr nt xnt n nr
to improve the performance. Hence, it is shown in Fig. 13 that where Hji denotes the equivalent channel matrix corresponding
the performance of OFDM at 256 km/h can be significantly to the jth RA and the ith TA obtained by (35), as well as
improved in contrast to that of OFDM at 64 km/h. Importantly, xi = vec(Xi ).
the OTFS system is capable of outperforming OFDM by 7 dB
at BER = 10−4 at the speed of 256 km/h.
To provide further insights, Fig. 14 compares the BER B. STBC-OTFS
performance of coded OTFS to that of the OFDM system in To further exploit the diversity of MIMO-OTFS, STBC-
conjunction with different moving speeds of 64 and 256 km/h. based OTFS was proposed in [39], where space-time coding
LDPC with an encoding ratio of 0.5 is employed. Similar to is employed before OTFS modulation.
Fig. 13, the MP detector is employed for both OTFS and In the STBC-OTFS system, the information bit stream with
OFDM systems. It was shown that the performance of one a length of nt LMN is first partitioned into nt groups each.
CP-based OTFS system relying on the rectangular waveform The ith group with a length of LMN is mapped to MN APM
is also close to that of ideal waveform-based counterpart at symbols as Xi , which has the same structure of (24). Then, the
both aforementioned speeds. The coded OTFS system is capa- DD domain Xi symbol matrix assigned to different antennas
ble of outperforming the corresponding OFDM counterpart by will be encoded by the STBC encoder as
around 2 dB at BER = 10−4 at the speed of 256 km/h. ⎡ ⎤
X̃11 · · · X̃T̃1
3) Performance Comparison of OTFS-IM and OFDM-IM: ⎢ . .. .. ⎥
Fig. 15 characterizes the performance comparison of OTFS- X̃ = ⎢⎣ .. . . ⎦.
⎥ (64)
IM and OFDM-IM systems in the context of (k, ka ) = (2, 1). X̃nt · · · X̃nt .
1 T̃
The parameters of M = N = 16, P = 4, and L = 4 are
employed. To make a fair comparison, a similar detector and Then, OTFS will be employed over T̃ frame duration accord-
rectangular waveform are employed for OTFS-IM and OFDM- ing to (24)–(26). Finally, the OTFS modulated signal will be
IM systems. Observed from Fig. 15 that the performance of vectorized and transmitted by the ith TA. At the receiver, the
corresponding OTFS demodulation is applied based on (27) D. VBLAST-OTFS-IM

and (28) for each RA. The received signal over T̃ frame can VBLAST-OTFS-IM is a nature extension of OTFS-
be formulated as IM, where OTFS-IM is carried out for each TA based
⎡ 1⎤ ⎡ ⎤⎡ x̃1 ⎤ ⎡ n1 ⎤ on (57). In VBLAST-OTFS-IM, the throughput is RV-O =
Y1 H11 · · · H1nt 1 1 $nt $Gi (i) (i)
⎢ .. ⎥ ⎢ . .. ⎥⎢ .. ⎥ ⎢ .. ⎥ ka
⎢ . ⎥ ⎢ . .. ⎢ . ⎥ ⎢ . ⎥
⎥ ⎢ g=1 ka log2 L + log2 (Ck(i) ) , where Gi represents the
. ⎥
i=1
⎢ ⎥ . . ⎥⎢ ⎥
⎢ Y1 ⎥ ⎢ ⎢ 1 ⎥ ⎢ 1 ⎥ number of subgroups in the ith OTFS block assigned
⎢ nr ⎥ ⎢ ⎢ Hnr 1 · · · Hnr nt ⎥ ⎥ ⎢ x̃nt ⎥ ⎢ nnt ⎥ (i)
to ith RF-chain. k(i) and ka represent the number of
⎢ . ⎥ ⎢ .. ⎥ ⎢ . ⎥ ⎢ . ⎥
⎢ .. ⎥ = ⎢ . ⎥ ⎢ .. ⎥ + ⎢ .. ⎥ total subcarriers and activated subcarriers in each subgroup,
⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢ ⎥
⎢ T̃ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ respectively. The information bit stream with a length of
⎢ Y1 ⎥ ⎢ H11 · · · H1nt ⎥⎢ x̃T̃1 ⎥ ⎢ nT̃1 ⎥ $nt $Gi (i)
⎢ . ⎥ ⎢ . .. ⎥ ⎢ ⎥ ⎢ ⎥ (i)
⎢ . ⎥ ⎢ . ⎥
ka
⎢ . ⎥ ⎣ . .. g=1 ka log2 L + log2 (Ck(i) ) is divided into nt groups
⎣ . ⎦ . . . ⎦⎣ .. ⎦ ⎣ .. ⎦ i=1
and assigned to nt RF-chains.
YT̃nr Hnr 1 · · · Hnr nt x̃T̃nt nT̃nt Similar to the OTFS-IM system, the ith OTFS block
(65) assigned to the ith RF chain is divided into Gi subgroups,
(i)
each group is composed of k(i) subcarriers, only ka out of
where Hji has been defined in (63), as well as x̃i = vec(X̃i ). (i)
k subcarriers are activated to transmit information. Then,
the gth subgroup of the ith OTFS block is splited into two
C. SM-OTFS parts as Bg(i) = Bg(i) (1) + Bg(i) (2). A block of information bits
(i)
SM is a promising low-cost MIMO candidate for future with a length of Bg(i) (1) = log2 (Ckk(i)
a
) is used to select the
wireless communication [14], where the activated antenna activated indices. The left blocks of information bits with a
(i)
indices are implicitly convey information. By intrinsically length of Bg(i) (2) = ka log2 L are mapped into L-ary APM
amalgamating the concept of SM and OTFS, both of the advan- symbol and transmitted by the activated subcarriers in the ith
tages of low-complexity and high robustness to the Doppler OTFS block. Hence, the gth g = (1, 2, . . . , Gi ) column of the
effect can be maintained. In SM-OTFS, the throughput is ith OTFS block in (24) can be formulated by
RSM-O = nt log2 L + log2 nt . The information bit stream with a ⎡
length of nt MNlog2 L + MNlog2 nt is first partitioned into MN
⎢
groups each. The ith group with a length of nt log2 L + log2 nt ⎢ (i) (i)
xig = ⎢0, s1g , . . . , s (i) , 0, . . .
is divided into two parts, the first part for active antenna selec- ⎣
ka g

tion and the second part log2 L is mapped to L-APM symbol. The first group
The symbol vector of the ith group is denoted as ⎤
⎡ ⎤T ⎥
(i) (i) ⎥
0, s , . . . , s , 0, . . .⎥. (69)
⎢ ⎥ (M/k(i) −1)ka (i) +1 g (i) (i) ⎥
vi = ⎣0, . . . , 0, si , 0, . . . , 0⎦ (66) Mka /k g ⎦

Ii −1 nt −Ii The last group
where Ii is the active antenna index of the APM symbol si . Next, the DD domain X̂(i) symbol matrix of the ith subgroup
The DD domain symbol matrix is given as is denoted by
(i)

X = [v1 , . . . , vMN ] (i) (i)
⎡ ⎤ X̂ = x1 , . . . , xGi (70)
⎡ ⎤ 0, 0, ··· 0,
x1 ⎢ .. .. ⎥ and will be modulated by the OTFS technique based
⎢ x2 ⎥ ⎢ . s2 , ··· . ⎥
⎢ ⎥ ⎢ ⎥ on (24)–(26). Finally, the OTFS modulated signal of each
⎢ ⎥ ⎢ ⎥
= ⎢ ... ⎥ = ⎢ s1 , ..
. ··· 0, ⎥ . (67) group will be vectorized and transmitted by the ith TA. At
⎢ ⎥ ⎢ ⎥
⎣ xnt −1 ⎦ ⎢ .. ⎥ the receiver, the corresponding OTFS demodulation is applied
⎣ . 0, ··· sMN , ⎦ based on (27) and (28) for each RA. According to (35), the
x nt
0 0 ··· 0. received signal can be formulated as
⎡ ⎤ ⎡ ⎤⎡ (1) ⎤ ⎡ ⎤
Next, each row of the DD domain X symbol matrix xi will be Y1 H11 · · · H1nt x̂ n1
modulated by the OTFS technique based on (24)–(26). Finally, ⎢ .. ⎥ ⎢ .. .. .. ⎥⎢ .. ⎥ + ⎢ .. ⎥ (71)
⎣. ⎦ = ⎣ . . . ⎦⎣ . ⎦ ⎣ . ⎦
the OTFS modulated signal will be transmitted by the ith
TA. At the receiver, the corresponding OTFS demodulation Ynr Hnr 1 ··· Hnr nt x̂(nt ) n nr
is applied for each RA. According to (35), the received signal where Hji denotes the equivalent channel matrix defined
using equivalent channel matrix can be formulated as (i)
in (63), as well as x̂(i) = vec(X̂ ). The detectors introduced in
⎡ ⎤ ⎡ ⎤⎡ ⎤ ⎡ ⎤
Y1 H11 · · · H1nt x1 n1 Section IV-D can be applied for MIMO-OTFS signal recovery.
⎢ .. ⎥ ⎢ .. .. .. ⎥⎢ .. ⎥ + ⎢ .. ⎥ (68)
⎣ . ⎦=⎣ . . . ⎦⎣ . ⎦ ⎣ . ⎦ E. Performance Evaluation
Ynr Hnr 1 ··· Hnr nt xnt nnr
Fig. 16 compares the performance of the VBLAST-OTFS
where Hji has been defined in (63). systems employing ideal and rectangular waveforms to that
Fig. 16. Performance comparison of VBLAST-OFDM and VBLAST-OTFS

systems with (M, N, L) = (16, 16, 4) relying on the MP detector. The number
of paths in the DD domain is P = 4 with τmax = (4/M f ), as well as Fig. 18. BER performance comparison of SM systems and MIMO-IM
υmax = (4/NT) for the velocity of 254 km/h. systems with (M, N, L) = (8, 8, 2) using the MP detector. The number of
paths in the DD domain is P = 4 with τmax = (3/M f ), as well as
υmax = (3/NT) for the velocity of 380 km/h.
than the SM-OTFS counterpart. In particular, both of them

are capable of providing significant performance gain over
SM-OFDM and VBLAST-OFDM-IM systems.
VI. OTFS-A IDED M ULTIPLE ACCESS FOR I OT N ETWORK

In Section III-D, the DD-domain-assisted OTFS orthogonal
MA (OMA) has been introduced. To further investigate the
potentiality of the OTFS-based IoT network, the TF-domain-
assisted OTFS-OMA as well as OTFS-based nonorthogonal
MA (NOMA) are introduced in this section.
Fig. 17. BER performance comparison of 2 × 1 STBC-OTFS system and

OTFS system with (M, N, L) = (16, 16, 2) using MP detection. The number A. OTFS-OMA
of paths in the DD domain is P = with τmax = (5/M f ), as well as υmax = 1) Time-Domain-Assisted OMA: For the MA in the context
(3/NT) for the velocity of 190 km/h.
of time domain, the TF grid is partitioned by users upon the
time axis. The TF grid composed of the uth user is denoted by
⎧ !
of VBLAST-OFDM counterparts. The prefix of one-CP ⎪
⎨ d ∈ S, if m ∈ u NNu , . . . , (u + 1) NNu − 1
and N-CP is selected for the rectangular waveform-based
Uu [m, n] = n ∈ {0, 1, . . . , M − 1} (72)
VBLAST-OTFS system. For a fair comparison, the MP detec- ⎪
⎩
tor is employed for both of the VBLAST-OTFS and VBLAST- 0, otherwise
OFDM systems. It is shown that the performance of the
ideal waveform-based OTFS, one-CP-based OTFS, as well as where Xu [m, n] denotes the symbol transmitted by the uth user
N-CP-based OTFS is close to each other and they are capa- in the mth row and the nth column of the TF grid.
ble of outperforming that of VBLAST-OFDM counterpart by 2) Frequency-Domain-Assisted OMA: For the MA in the
around 5 dB at BER = 10−5 . context of frequency domain, the TF grid is partitioned by
Fig. 17 compares the BER performance of the STBC-OTFS users upon the frequency axis. The TF grid composed of the
system having (nt , nr ) = (2, 1) to that of SISO-OTFS relying uth user is denoted by
on the MP detector. The performance of the corresponding ⎧
OFDM system is added for comparison. It is obvious that the ⎨ d ∈ S, if m ∈ {0, 1, . . . , N − 1}
⎪ !
performance of STBC-OTFS relying on the MP detector is Uu [m, n] = n ∈ u NMu , . . . , (u + 1) NMu − 1 (73)
⎪
⎩
capable of outperforming that of STBC-OFDM, SISO-OTFS, 0, otherwise.
and SISO-OFDM by around 4, 10, and 15 dB, respectively.
The performance of SM-OTFS, SM-OFDM, as well as 3) Interleaved Time–Frequency-Assisted OMA: For the MA
VBLAST-OTFS-IM systems is compared in Fig. 18 in con- in the context of the interleaved TF domain, a periodic
junction with (nt , nr ) = (4, 4). Observed from Fig. 18 that the interleaving is invoked by each user. Accordingly, the corre-
VBLAST-OTFS-IM system exhibits better BER performance sponding symbols transmitted by the uth user in the TF domain
Fig. 20. CDF of uplink sum rate for PD-NOMA users under OTFS/OFDM
with (M, N, L, Nu ) = (8, 8, 2, 2) using the MMSE-SIC detector. The number
Fig. 19. BER performance comparison of OTFS-OMA and OFDMA systems of paths in the DD domain is P = 4 with τmax = (1/M f ), as well as
with (M, N, L, Nu , p1, p2) = (4, 4, 2, 4, 2, 2) using ML detection. The number υmax = (1/NT) for the velocity of 270 km/h.
of paths in the DD domain is P = 4 with τmax = (3/M f ), as well as
υmax = (3/NT) for the velocity of 270 km/h.
by the uth high-mobility user can be formulated as
1
N−1 M−1 nk ml
can be obtained by j2π N −M
Uu [n, m] = √ xu [k, l]e (77)
⎧ * + NM k=0 m=0
⎪
⎨ d ∈ S, if m = u/Î1 + Î2 p2
where xu [k, l] denotes the symbol of the kth row and the lth
Uu [m, n] = n = (u)Î1 + Î1 p1 (74)
⎪
⎩ column in the DD domain symbol matrix of the uth high-
0, otherwise mobility user.
Then, Heisenberg transform is exploited to convert the TF
where Î1 indicates the intervals between two users in the pres-
signal matrix Uu [n, m] to a time-domain signal. Different
ence of frequency axis, while Î2 denotes that of the time axis.
transmission powers are exploited by different users to trans-
p̂1 is the size of the interval on the frequency axis and p̂2 is
mit time-domain signals and the time-domain signal of the uth
that of the interval on the time axis.
user can be formulated as
To provide further insights, Fig. 19 compares the
performance of the OTFS modulation-based interleaved TF M−1
N−1 -
su (t) = Pu Xu (n, m) g(t − nT)ej2π m f (t−nT) (78)
MA (ITFMA) scheme and interleaved DD MA (IDDMA)
n=0 m=0
which also named as the contiguous TF MA (CTFMA) scheme
to that of OFDM access (OFDMA). It is shown in Fig. 19 where Pu denotes the transmission power adopted by the uth
that the OTFS-OMA systems (ITFMA and CTFMA) are user. Fig. 20 compares the spectral efficiency of OTFS-assisted
always capable of providing significant performance gain over PD-NOMA (OTFS-PD-NOMA) to that of OFDM-assisted PD-
OFDMA. NOMA (OFDM-PD-NOMA) under different values of the
cumulative distribution function (CDF). The parameter of
(Nu , M, N, L) = (2, 8, 8, 2), as well as MMSE-aided serial
B. OTFS-NOMA
interference cancellation (MMSE-SIC) detector are employed.
1) OTFS-Assisted DD-TF-NOMA: In the DD-TF-NOMA It is found that the spectral efficiency of OTFS-PD-NOMA and
scheme, high-mobility users occupy DD domain resources, OFDM-PD-NOMA systems is close to each other at a CDF of
meanwhile, low-mobility users occupy TF domain resource. 0.1. In particular, the spectral efficiency of OTFS-PD-NOMA
The TF domain symbol for the high-mobility user can be is increased to around 8 bits/s/Hz, while that of OFDM-based
represented as counterpart is only about to achieve 5 bits/s/Hz at a CDF
of 0.5. Therefore, the OTFS-PD-NOMA system is capable of
1
N−1 M−1 kn ml
j2π N −M
U0 [n, m] = x0 [k, l]e (75) attaining a larger spectral efficiency than OFDM-PD-NOMA.
NM Furthermore, to easy understanding, the parameters of all
k=0 l=0
the simulations are summarized at a glance in Table IV.
where n ∈ {0, . . . , N − 1} and m ∈ {0, . . . , M − 1}. The uth
low-mobility user’s TF signal is denoted as
, VII. P OTENTIAL B ENEFITS FOR I OT N ETWORK
xu [n], if m = u − 1 and u > 0 In this section, the potential advantages of OTFS for IoT
Uu [n, m] = (76)
0, otherwise. network are summarized as follows.
2) OTFS-Assisted Power-Domain NOMA: In the OTFS-
assisted power-domain NOMA (PD-NOMA) scheme, Nu high- A. Potential Advantages
mobility users occupy the same DD-domain resource with dif- 1) Lower PAPR: High PAPR is one of the challenging
ferent transmission power. The TF domain signal transmitted issues in the OFDM design due to the FFT operation at the
TABLE IV
PARAMETERS OF S IMULATIONS
hence the spectral efficiency can be significantly improved.

Although the design of the ideal waveform becomes a chal-
lenge, one CP-based OTFS can employ the classic rectangle
waveform to effectively combat the effect of multipath chan-
nel by only inserting one CP from N symbol durations.
Accordingly, both ideal waveform and one CP-based OTFS
systems are capable of dramatically improving the spectral
efficiency.
3) Robust to Doppler Effect: In light of the aforementioned
performance evaluation of Section VI, it is obvious that OTFS
is capable of providing significant performance gains over the
OFDM system at the near similar complexity in the context
of high Doppler communication scenarios. In particular, by
exploiting the encoding philosophy of index modulation, the
transmit signal becomes sparse, which is capable of further
efficiently mitigating the ISI and ICI effect imposed on adja-
Fig. 21. PAPR performance comparison of the OTFS system and the OFDM
system.
cent symbols. In conclusion, the DD effects are considered as
extra means to convey information in the OTFS system, hence
it can provide DD diversity compared to the classic one-tap
equalizer-based OFDM system, resulting in more robustness
transmitter. Hence, a number of contributions have concen- to high mobility communication.
trated on PAPR reduction [111], [112] at the cost of somewhat
performance degradation. By incorporating the unit of pre-
processing, the OTFS technique has its inherent advantage of B. Potential Applications
lower PAPR. To elaborate a little further, Fig. 21 compares Owing to the aforementioned benefits, OTFS constitutes an
the PAPR of OTFS to that of the OFDM system. The param- attractive option for the following applications.
eters of (N, M, L) = (8, 64, 16), (8, 128, 16), and (8, 256, 16) 1) OTFS for Vehicular Networks: Vehicle-to-everything
are employed for OTFS, while those of (M, L) = (64, 16), (V2X) communication is conceived to be one of the popu-
(128, 16), and (256, 16) are used for OFDM. Observed from lar application scenarios in the future wireless communication
Fig. 21 that the PAPR of the OTFS system is approximate network, where various vehicles are allowed to communicate
1 dB lower than that of OFDM at the P(PAPR > γ0 ) of with each other. Combating the effects of the large number of
10−3 . Furthermore, as the number of subcarriers increases, Doppler frequency offsets becomes the main challenging issue.
this advantage becomes more obvious. By exploiting the intrinsic benefits of OTFS, the performance
2) Higher Spectral Efficiency: To mitigate the effect of ISI and advantages of OTFS-based vehicular networks have been
imposed by the dispersive channel, CP occupying 20% of predominately studied in [42], [77], [93], [95], and [103]
the symbol duration has to be added for the classic OFDM Specifically, the performance of various waveforms was
transmission, results in wasting some spectrum resources. As investigated in the context of V2X communication in [93].
illustrated in Section III, ideal waveform-based OTFS is capa- It is observed that OTFS modulation is capable of outper-
ble of efficiently eliminating the ISI with the absence of CP, forming the current waveforms in terms of BER performance
in the face of high-mobility vehicular networks, even incor- in serious performance degradation [105], [106]. Owing to its
porating with the polar coding. Moreover, low-complexity robustness against phase noise [101]–[107], the OTFS tech-
tuned MMSE equalizer [77] and joint MP-maximum ration nique exhibits great potential in future mmwave and Terahertz
combining (MRC) iterative detection [95] were designed for communication.
SISO-OTFS and MIMO-OTFS in the context of the vehicular
channel, respectively. In particular, the properties of mmWave
vehicular channel are studied in the DD domain with realis- VIII. F UTURE C HALLENGING D ESIGN I SSUES
tic measurement [103]. It is found that OTFS is capable of As a promising waveform for future IoT network, the OTFS
obtaining DD diversity by prudently adjusting the parame- technique provides numerous opportunities, but it also brings
ters of M, N, as well as designing an efficient receiver that new challenges. In this section, its disadvantages are analyzed,
allows denser subcarrier spacings. Therefore, OTFS is capable as well as its design guidelines are illustrated.
of providing reliable communication for vehicular networks
by flexibly designing the system parameter as well as its
associated receiver. A. Efficient Waveform Design
2) OTFS for Underwater Acoustic Communications: The 1) Waveform Design for Low OOB: In light of the afore-
UAC channel is one of the most challenging wireless com- mentioned introduction, it is obvious that rectangular pulse
munication channels. Due to its limited bandwidth, long is one popular waveform. However, it tends to give a rise
propagation delay, and rapid time variations, it has inherent to OOB power emission, which may invoke adjacent channel
double dispersion characteristics. To mitigate the ISI and ICI interference and degrade the system performance. Moreover,
in the TF domain, a variety of redundant signal processing since 2-D convolution is employed in the DD domain, chan-
procedures have to be invoked for conventional multicarrier nel estimation and signal detection become more complex in
schemes, resulting in high implementation complexity as well the presence of fractional Doppler interference. One poten-
as a waste of resources. tial solution to eliminate this effect is to design efficient
To further relieve the effects of the double dispersion, windowing function [57], [78], [79]. Accordingly, it is nec-
OTFS modulation has been applied for UAC in [96] and [97]. essary to further explore the efficient waveform to strike an
Specifically, the performance of OTFS has been evaluated in elegant tradeoff amongst the OOB power required, the spec-
the context of different UAC channels [96]. It is found that the tral efficiency attained, as well as its detection complexity
OTFS technique using short data frames is superior to OFDM imposed.
in terms of BER, PAPR, and spectral efficiency. Moreover, 2) Waveform Coexistence Design: In order to meet the
the OFDM-based OTFS scheme has been applied for mas- diverse demands of IoT communication [113], [114], wire-
sive MIMO multiuser UAC communication system [97], which less scholars have designed specific waveform for Terahertz
predicts that it is capable of providing significant performance communication [105]–[107] as well as satellite-terrestrial com-
gain over that of conventional OFDM counterpart. munication [116], [117]. In order to be compatible with
3) OTFS for Nonterrestrial Networks: LEO communication different communication scenarios, the coexistence of wave-
network is helpful to pursuit the future objective of supporting forms has attracted a wide range of attentions [113]–[120],
the seamless coverage of IoT terminals [1]. However, the high including the coexistence of OFDM and CDMA [113], that
mobility of satellites poses challenge to the stability of LEO- of OFDM and OFDM-IM [114]–[118], that of orthogonal
based IoT communication system. To tackle this issue, OTFS- and nonorthogonal multicarrier [119], and that of OFDM and
based LEO communication network has been studied recently. FBMC.
Specifically, the performance of OTFS-based satellite to The challenging issue of waveform coexistence is the
ground communication system was first investigated in [98], effect of internumerology interference. By setting appropriate
which shows that the OTFS technique is able to outperform parameters and designing an efficient detector, the internu-
classical OFDM in terms of BER. Then, the secrecy of OTFS- merology interference can be reduced efficiently. To the best
based uplink LEO satellite communication has been inves- of the authors’ knowledge, the waveform coexistence of OTFS
tigated in [99]. Moreover, the OTFS-based NOMA system and other waveforms is blank and deserves to be further
has been conceived in [100], which is capable of support- investigated.
ing grant-free uplink access. Owing to its resilience to the 3) AI-Aided Waveform Design: Artificial intelligence tech-
Doppler effect [98]–[100], the OTFS scheme is envisioned nique has the potential to solve the complex optimization for
to be an attractive multicarrier modulation scheme for future different wireless communications research areas by learning
LEO-based IoT communication system. process using numerous data without explicitly programming,
4) OTFS for High-Frequency Band Communication: To as exemplified in [122]–[127]. As above-mentioned, to sat-
increase the system capacity of the IoT network, communi- isfy the diverse demands of IoT communication, the selection
cating over high-frequency band is the most efficient way to of the length of CP, the spacing of subcarrier as well as
achieve this goal. Since a variety of mmwave frequency bands the parameter of the waveform (i.e., window functions, filter
have been adopted in 5G communication, the Terahertz band lengths, and coefficients), becomes more complex. By intrin-
becomes more popular in future IoT network. As the frequency sically amalgamating the technique of AI to optimize the
bands increases, the distortion effect imposed by the power parameter configurations of OTFS is infancy and deserves to
amplifier and phase noise becomes non-negligible, resulting be further investigated.
Moreover, efficient waveforms for short-packet and low- CS-based algorithms is expected to significantly reduce the
power transmissions are also deserved to be developed in the complexity of signal processing.
future. 3) Design Issues of Cell-Free MIMO: Cell-free massive
MIMO (CF-MIMO), which transmits information among a
large number of distributed access points (APs), has been
B. Multidomain-Aided OTFS Design considered as a promising technology in future IoT communi-
In order to satisfy people’s pursuit of speed and capac- cation. To combat with the delay spread of dispersive channel,
ity, wireless communication scholars have been committed to OFDM-based CF-MIMO has been conceived in [135]–[137],
explore new dimensions to transmit information. Specifically, focusing on the optimization of active users’ identifica-
the resources of time domain, frequency domain, as well as tion [135], DL-based reciprocity calibration [136], as well as
space domain are utilized to convey information for con- MP-based signal detection [137]. To the best of the authors’
ventional communication. Recently, the IM technique, which knowledge, the performance of CF-MIMO in the face of high
employs the activated indices as an additional dimension to mobility has not been investigated.
convey information, constitutes an appealing arrangement for Specifically, due to the distributed topology of CF-MIMO,
future wireless communication [128], [129]. Based on this the equivalent channel matrix of OTFS should be reana-
overview of OTFS, it is evident that the research of IM-assisted lyzed and reevaluated by exploiting the large-scale fading
OTFS is at the stage of beginning. Incorporating the mul- coefficients. Additionally, advanced low-complexity signal
tidomain concept to OTFS modulation is able to eminently processing algorithms are necessary to be designed for
enhance the attainable transmit rate and is worthy of further either centralized or decentralized implementation paradigms.
study. Moreover, for the case of high-mobility scenarios, the associ-
ated AP cluster varied dramatically with the moving speed of
the user equipment, hence, the dynamic and joint optimization
C. OTFS-Aided Massive MIMO Design of AP and OTFS are worth more intensive study.
Massive MIMO, which is capable of substantially improv- 4) Other Potential Issues: In addition, how to design
ing system capacity by equipping with a large number of sophisticated beamforming/precoding to exploit all the avail-
antennas at the BS, has been deemed as a key technology for able spatial channel is also an open issue for MIMO-
future wireless communication. By incorporating with the con- OTFS [138]. Moreover, how to eliminate the impact of RF
cept of OTFS, its associated signal processing becomes more front-end impairments (i.e., nonlinearity of the power ampli-
challenging. Its design guidelines are detailed as follows. fier, imbalance of the quadrature modulator/demodulator, and
1) Low Overhead Channel Estimation: Obtaining accurate phase noise) are also worthy of study.
CSI plays a vital role in future IoT network [130]. The current
channel estimation has mainly three categories: 1) embed- D. OTFS-Aided Multiple Access Design
ded pilot-aided method [27], [28], [35], [52]; compressed
MA technique is one of the key technologies to support
sensing-based approach [26], [48], [49]; as well as Bayesian
massive connectivity in future IoT network. To further satisfy
theory-based algorithm [34]. Specifically, in the embedded
the demands of MA in IoT network, where a huge chunk of
pilot-aided scheme, pilot, GI, and data symbols are efficiently
terminals are moving at a high speed, OTFS-based MA tech-
arranged in the DD plane to mitigate the interference between
niques have been extensively studied in [83]–[91]. By reusing
the pilot and data symbols at a cost of a certain waste of
the resources of both the DD and the TF domains, it is capa-
resources. By exploiting the sparsity of channel, the CS-
ble of efficiently utilizing the spectrum resources. However,
based approach is capable of acquiring CSI at a reduced
the superposition of signals of the DD and TF domains makes
complexity, but it is not suitable for strongly correlated chan-
signal recovery more challenging. Additionally, the current
nels. The Bayesian theory-based algorithm performs better in
OTFS-based MA paradigms mainly rely on the assumption of
terms of pilot overhead, pilot power consumption, and anti-
biorthogonal as well as the integer delay Doppler. Therefore,
noise interference, but it imposes a slightly higher complexity.
the performance of the OTFS-MA scheme using real wave-
Accordingly, low complexity channel estimation algorithm
forms and fractional delay/Doppler is also required further
as well as the advanced training optimization techniques for
analysis. Moreover, for the sake of exploiting the spatial diver-
massive MIMO are worth more intensive study.
sity and multiplexing gain, the performance of MIMO-aided
2) Low Complexity Signal Detector: Although a wide
OTFS-MA is worth more intensive study.
range of related contributions has concentrated on mas-
sive MIMO signal detection [131], [132], they are mainly
designed for flat-fading channel, so that these detectors may E. OTFS-Aided RIS Design
not be directly applicable to massive MIMO-OTFS. On Reconfigurable intelligent surface (RIS) is proposed as a
the other hand, the increased dimension of the equivalent low hardware cost and energy consumption technique for
channel matrix further increases the complexity of signal future IoT network [139]–[143]. As a passive relay, RIS
detection. Fortunately, its equivalent channel matrix exhibits is capable of providing beneficial beamforming gain with-
inherent sparsity, which can be fully exploited by CS algo- out self-interference cancellation. For the sake of improving
rithms [133], [134]. Consequently, making full use of the the performance of RIS in the context of broadband and
characteristics of the current large-dimensional detector and full-duplex communication scenarios, OFDM-assisted RIS has
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An Overview of OTFS For Internet of Things Concepts Benefits and Challenges

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An Overview of OTFS For Internet of Things Concepts Benefits and Challenges

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7596 IEEE INTERNET OF THINGS JOURNAL, VOL. 9, NO.

10, MAY 15, 2022

An Overview of OTFS for Internet of Things:

ISFFT-based preprocessing and symplectic finite Fourier

where n and n̂ denote the additive white noise Gaussian

Fig. 5. Original concept of OTFS.

Fig. 6. Transformation from TF domain to DD domain.

Fig. 7. OTFS for IoT network.

2) Rectangular Waveform: For the rectangular waveform,

equalization. After that, numerous low-complexity detectors

conjunction with different types of GI using ML and MP

the MP detector is better than that of the MMSE detector.

corresponding OTFS demodulation is applied based on (27) D. VBLAST-OTFS-IM

Fig. 16. Performance comparison of VBLAST-OFDM and VBLAST-OTFS

than the SM-OTFS counterpart. In particular, both of them

VI. OTFS-A IDED M ULTIPLE ACCESS FOR I OT N ETWORK

Fig. 17. BER performance comparison of 2 × 1 STBC-OTFS system and

hence the spectral efficiency can be significantly improved.

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