A Survey on Low Complexity

Detectors for OTFS Systems

ZHANG Zhengquan1,2, LIU Heng1, WANG Qianli1, FAN Pingzhi1

(1. Key Lab of Information Coding and Transmission, Southwest Jiaotong University, Chengdu 611756, China；
2. State Key Laboratory of Integrated Services Networks, Xidian University, Xi’an 710071, China)

Abstract: The newly emerging orthogonal time frequency space (OTFS) modulation can ob⁃
tain delay-Doppler diversity gain to significantly improve the system performance in high
mobility wireless communication scenarios such as vehicle-to-everything (V2X), high-speed
railway and unmanned aerial vehicles (UAV), by employing inverse symplectic finite Fouri⁃
er transform (ISFFT) and symplectic finite Fourier transform (SFFT). However, OTFS modu⁃
lation will dramatically increase system complexity, especially at the receiver side. Thus, de⁃
signing low complexity OTFS receiver is a key issue for OTFS modulation to be adopted by DOI: 10.12142/ZTECOM.202104002
new-generation wireless communication systems. In this paper, we review low complexity
https://kns.cnki.net/kcms/detail/34.1294.
OTFS detectors and provide some insights on future researches. We firstly present the OTFS
TN.20211129.1724.002.html, published
system model and basic principles, followed by an overview of OTFS detector structures, online November 30, 2021
classifications and comparative discussion. We also survey the principles of OTFS detection
algorithms. Furthermore, we discuss the design of hybrid OTFS and orthogonal frequency di⁃ Manuscript received: 2021-10-18

vision multiplexing (OFDM) detectors in single user and multi-user multi-waveform commu⁃
nication systems. Finally, we address the main challenges in designing low complexity OT⁃
FS detectors and identify some future research directions.

Keywords: high mobility wireless communications; OTFS; ISFFT；SFFT; delay-Doppler di⁃

versity; iterative maximum ratio combining (MRC) detection; message passing detection

Citation (IEEE Format): Z. Q. Zhang, H. Liu, Q. L. Wang, et al.,“A survey on low complexity detectors for OTFS systems,”ZTE Commu⁃
nications, vol. 19, no. 4, pp. 03–15, Dec. 2021. doi: 10.12142/ZTECOM.202104002.

1 Introduction well as unmanned aerial vehicles (UAV), which require the

T
he new-generation mobile communication systems [1] support of high mobility up to 500–1 000 km/h with accept⁃
are the key enabler for the digital society in the next able quality of service (QoS)[1, 6].
ten years and are expected to satisfy the requirements However, high mobility wireless communications suffer
for high mobility applications such as vehicle-to-every⁃ from high Doppler spread, and the transmitted signals experi⁃
thing (V2X) services[2–3], high-speed railway services[4–5], as ence time-frequency doubly selective channel[7]. High Doppler
spread will result in very serious inter-carrier interference
(ICI), especially in orthogonal frequency division multiplexing
This work is supported in part by the NSFC Project under Grant No.
(OFDM) systems. Another challenge is to perform channel esti⁃
61871334, in part by the open research fund of the State Key Laboratory mation to obtain exact channel state information (CSI) of fast
of Integrated Services Networks, Xidian University under Grant No.
ISN21-15, and in part by the Fundamental Research Funds for the Central time-variant channels, even to the extent that the reported CSI
Universities, SWJTU under Grant No. 2682020CX79. FAN Pingzhi’s work is outdated. These challenges will seriously reduce the perfor⁃
is also supported by the NSFC project under Grant No. 61731017 and the
“111”project under Grant No. 111-2-14. mance of conventional OFDM systems. To tackle the challeng⁃

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Special Topic A Survey on Low Complexity Detectors for OTFS Systems
ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

es of high mobility, learning-based channel estimation, flexi⁃ study a hybrid OFDM-OTFS multi-waveform detection frame⁃
ble subcarrier spacing and length of cyclic prefix (CP), double work. Finally, we discuss some challenges for low complexity
demodulation reference signals (DMRS), i. e., front-loaded OTFS detectors, and identify some future research directions.
DMRS and additional DMRS with configurable time-domain The rest of the paper is organized as follows. A brief discus⁃
density, have been studied. However, these methods still treat sion on the OTFS system model and the principles of OTFS
high mobility as a negative factor, which results in very limit⁃ modulation are given in Section 2. In Section 3, a survey on
ed performance improvements of OFDM systems. the state-of-the-art OTFS detector structures is provided,
Recently, the orthogonal time frequency space (OTFS) mod⁃ while the research progress on OTFS detection algorithms is
ulation technology[8–9] has been proposed for high mobility given in Section 4. In Section 5, a hybrid OTFS-OFDM multi-
wireless communications, and attracted increasing attention waveform detection framework is discussed briefly, while Sec⁃
due to its excellent performance. This new two-dimensional tion 6 discusses the research challenges and identifies some
(2D) modulation transforms high mobility into a positive factor future research directions, followed with conclusions.
by introducing inverse symplectic finite Fourier transform (IS⁃
FFT)-based pre-processing before OFDM modulation and sym⁃
plectic finite Fourier transform (SFFT) -based post-processing 2 Basic Principles of OTFS Modulation
after OFDM demodulation. With ISFFT/SFFT transforms, de⁃ The OTFS system model is shown in Fig. 1, which includes
lay-Doppler (DD) domain is introduced in OTFS systems and OTFS transmitter and receiver structures. Compared with
the modulated symbols are transmitted in DD domain rather OFDM systems, OTFS systems add ISFFT-based transform
than time-frequency (TF) domain. The equivalent DD channel precoding before OFDM modulation at the transmitter side,
exhibits excellent features of separability, stability, compact⁃ while SFFT-based post-processing is employed after OFDM
ness, and possible sparsity[9], which enables OFTS systems to demodulation at the receiver side. From the perspective of sys⁃
obtain delay-Doppler diversity gain. Additionally, these excel⁃ tem structures, OTFS systems can be regarded as a type of pre⁃
lent features are also beneficial for performing channel estima⁃ coded OFDM systems and can be easily compatible with
tion under high mobility environments. OTFS modulation has OFDM systems. With the introduction of ISFFT/SFFT trans⁃
also been submitted to 3GPP as a candidate waveform for 5G form, a new domain, i. e., DD domain, is introduced. As a re⁃
systems[10–12], and is regarded as a promising waveform for sult, there are three domains in OTFS systems: DD domain,
next-generation wireless communications[13]. TF domain and time domain, while OFDM systems only have
However, since each modulated symbol is spread to the TF and time domains.
whole TF resource grid by ISFFT operation in OTFS systems, Considering an OTFS system with an N × M DD resource
the number of equivalent DD channel dimensions is larger grid, at the OTFS transmitter side, the modulated symbols and
than that of OFDM systems, which dramatically increases the pilots are mapped to the DD resource elements. The signal car⁃
complexity of signal detection. To address this challenge, ried by the (k, l) -th DD resource element is denoted by
some efforts have been devoted to the research of low complex⁃ xDD [ k, l ] for k = 0, 1,..., N - 1, l = 0, 1,..., M - 1. Then, the
ity OTFS detector structures such as decision feedback equal⁃ symbols xDD [ k, l ] in the DD domain are converted to the sym⁃
izer (DFE)[14], iterative maximum ratio combining (MRC) detec⁃ bols xTF [ n, m ] in the TF domain using the ISFFT as
tor[15–16], non-iterative joint TF- and DD-domain detector[17], it⁃ 1
∑∑x
N - 1M - 1
xTF [ n, m ] = ISFFT ( xDD [ k, l ]) = DD
[ k, l ] e ( N M )
j2π nk - ml

erative joint time- and DD-domain detector[18], non-iterative MN k=0 l=0

MRC detector with compensation[19], learning-based detec⁃ for n = 0, 1,..., N - 1, m = 0, 1,..., M - 1. Next, the signals
tor[20–23], and separate low complexity OTFS detector[24]. Sever⁃ xTF [ n, m ] in the TF domain is converted to the symbols in the
al OTFS detection algorithms, including linear minimum dime domain signal as x ( t) = IFFT ( xTF [ n, m ]) =
mean square error (MMSE) and zero-forcing (ZF) [25–29], mes⁃ 1
∑∑xTF [ n, m ] g tx ( t - nT ) ej2πmΔf (t - nT)and is trans⁃
N - 1M - 1

sage passing (MP) [30–35] and its variants like approximate mes⁃ MN n = 0 m = 0
sage passing (AMP) [34–36], MRC[15–16], joint MP and MRC[37], mitted through the channel. At the OTFS receiver side, the re⁃
hybrid maximum a posteriori (MAP) and parallel interference
cancellation (PIC) [38], expectation propagation (EP) [39], varia⁃
ceived signal in the time domain is y ( t) = ∫∫
h (τ,υ) x ( t -
υ τ

tional Bayes (VB) [40], and iterative least squares minimum re⁃ τ)e dτdυ. After OFDM demodulation (i. e., FFT trans⁃
j2πυ ( t - τ)

sidual (LSMR)[41], have been studied. form), the symbols in the TF domain are denoted by
In this paper, a comprehensive survey on OTFS detector y TF [ n, m ]. Then, applying SFFT on y TF [ n, m ], the symbols in
structures and detection algorithms is provided. We compare the DD domain can be obtained as y DD [ k, l ] =
the advantages and disadvantages of each OTFS detector SFFT ( ( y TF [ n, m ]) = ∑∑ y TF [ n, m ] e
N - 1M - 1
-j2π ( nk )
N -
. Finally, the
ml
M

structure and detection algorithm, which can provide some in⁃ n=0m=0

sights for future research. We also provide classifications for transmitted symbols xDD [ k, l ] can be recovered from y DD [ k, l ]
OTFS detectors from different dimensions. Furthermore, we through the OTFS detector.

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ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

Delay-Doppler Time-frequency Time domain

domain domain

Input
bits Channel Serial to Parallel Adding
Interleaving Modulation Pilot insert ISFFT IFFT DAC RF
coding parallel to serial CP
OFDM modulation
OTFS modulation
Channel
estimation

Output
bits
Channel Deinter⁃ Demodula⁃ Signal Parallel Serial to Removing
SFFT FFT ADC RF
decoding leaving tion detection to serial parallel CP

OFDM demodulation
OTFS demodulation

OTFS systems: + OFDM systems:

ADC: analog-to-digital conversion FFT: fast Fourier transform OFDM: orthogonal frequency division multiplexing SFFT: symplectic finite Fourier transform
CP: cyclic prefix IFFT: inverse fast Fourier transform OTFS: orthogonal time frequency space
DAC: digital-to-analog conversion ISFFT: inverse symplectic finite Fourier transform RF: radio frequency

▲Figure 1. OTFS system model

As shown in the expression for

ISFFT, a DD symbol carried by a Rx DD signals DD-domain non-it⁃ Detected symbols Rx DD signals DD-domain itera⁃ Detected symbols
erative signal de⁃ tive signal detec⁃
DD resource element is spread to tection tion
(MMSE/ZF etc. ) (MP etc. )
all the TF resource elements,
which enables OTFS systems to (a) (b)

obtain full diversity. Further,

since the pilots inserted in DD do⁃
Rx TF TF-domain DD DD-domain Detected Rx TF TF-domain DD DD-domain it⁃ Detected
main are also spread to all the TF signals equalization signals signal de⁃ symbols signals equalization signals erative MRC symbols
(MMSE) tection (MMSE etc. ) detection
resource elements, the equivalent
DD channels obtained by channel Non-iterative joint TF- and DD-domain Joint non-iterative TF-domain and iter⁃
signal detection ative DD-domain signal detection
estimation have the average chan⁃
(c) (d)
nel gain. Due to delay and Dop⁃
pler spread, the received symbols
in DD domain are interfered with Rx time DD DD-domain Detected Rx TF DD Detected
Time-domain signals signal TF-domain signals DD-domain
the neighboring symbols. There⁃ signals
equalization detection
symbols signals
equalization signal symbols
(ML) detection
fore, the main challenges for OT⁃
FS systems focus on the OTFS re⁃ Iterative joint time- and DD-domain Iterative joint TF- and DD-domain
signal detection detection
ceiver, which needs to design
very low complexity detectors, (e) (f)

while the OTFS transmitter is rel⁃

Rx DD Detected
atively simple, as it only needs to Rx time Detected signals learning-based sig⁃ symbols
DD-domain
add ISFFT operation before signals Time-domain TF-domain
signal
symbols nal detection
(DNN etc. )
equalization equalization
OFDM modulation. detection

(h)
Iterative joint time-, frequency- and DD-domain
signal detection
3 OTFS Signal Detector (g)
Structures DD: delay-Doppler MMSE: minimum mean square error OTFS: orthogonal time frequency space
Several works have been devot⁃ DNN: deep neural network MP: message passing TF: time frequency
ML: maximum likelihood MRC: maximum ratio combining ZF: zero forcing
ed to studying low complexity OT⁃
FS detectors. Fig. 2 illustrates ▲Figure 2. OTFS detector structures: (a) DD-domain non-iterative OTFS detector; (b) DD-domain itera⁃
several popular OTFS detector tive OTFS detector; (c) non-iterative joint TF- and DD-domain OTFS detector; (d) joint non-iterative TF-
domain and iterative DD-domain OTFS detector; (e) iterative joint time- and DD-domain OTFS detector;
structures, including DD-domain (f) iterative joint TF- and DD-main OTFS detector; (g) iterative joint time-, TF- and DD-main OTFS de⁃
non-iterative detector[25–29], DD- tector; (h) learning-enabled OTFS detector

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ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

domain iterative detector[30–35], non-iterative joint TF- and DD- Non-iterative OTFS detector
domain detector[17], joint non-iterative TF-domain and iterative
OTFS detector
DD-domain detector[15–16], iterative joint Time- and DD-do⁃
Iterative OTFS detector
main detector[18], iterative joint TF- and DD-main detector,
(a)
and learning-enabled detector[20–23]. According to the number
of domains involved in detection processing, these OTFS de⁃ Conventional OTFS detector
tectors can be divided into two categories: the single-domain OTFS detector
OTFS detector and joint multi-domain OTFS detector. With Learning-based OTFS detector
the need of iteration, these OTFS detectors can be divided into (b)
the non-iterative OTFS detector and iterative OTFS detector.
Single domain OTFS de⁃
These OTFS detectors can also be divided into the convention⁃ tector Joint TF- and DD-domain
al OTFS detector and learning-based OTFS detector. The de⁃ OTFS detector OTFS detector
tailed classifications of OTFS detectors are shown in Fig. 3. A Joint multi-domain OTFS Joint time- and DD-do⁃
detector main OTFS detector
summary of OTFS detectors is illustrated in Table 1.
Joint time-, TF- and DD-do⁃
The DD-domain non-iterative OTFS detector shown in Fig. main OTFS detector
2(a) achieves signal detection in the DD domain by using non- (c)
iterative detection algorithms like MMSE/ZF, spherical detec⁃ DD: delay-Doppler OTFS: orthogonal time frequency space TF: time-frequency
tion, maximum likelihood (ML) detection, etc., where MMSE/ ▲ Figure 3. OTFS detector classifications: (a) non-iterative and itera⁃
ZF is popular and has also been adopted by 4G/5G systems tive OTFS detectors; (b) single domain and multi-domain OTFS detec⁃
due to its low complexity, while spherical detection and ML tors; (c) conventional and learning-based OTFS detectors

▼Table 1. Summary of OTFS detector structures

Detector Detector Structure
Ref. Domain Basic Idea Advantage Disadvantage
Structure Type
Refs.
Signal detection is only performed in DD do⁃ Non-iterative signal detection algo⁃
[25] DD-domain non-itera⁃ DD Adopting non-iterative detection algo⁃
main; Non-iterative signal detection algo⁃ rithms suffer from some performance
– Single- tive OTFS detection domain rithms (e.g., MMSE/ZF) in DD domain
rithms are relatively low complexity. loss.
[29] domain
Refs. OTFS Iterative detection will increase the
detector Adopting iterative detection algo⁃
[30] DD-domain iterative DD Iterative detection algorithms can achieve complexity of algorithm design; the
rithms, like MP/AMP and MRC etc., in
– OTFS detection domain better performance. convergence of algorithms should be
DD domain
[35] analyzed and ensured.

TF Joint multi-dimension processing can

Non-iterative joint Joint multi-dimension processing in⁃
Ref. domain Joint TF- and DD- domain processing achieve better detection performance; Joint
TF- and DD-domain creases the complexity of designing
[17] and DD with non-iterative detection algorithms multi-dimension processing can relax the
OTFS detection OTFS detector.
domain processing requirements in DD domain.

Introducing non-iterative TF MMSE equaliz⁃ TF detection is needed to provide ini⁃

Refs. Joint non-iterative TF do⁃
Employing TF MMSE equalizer to pro⁃ er can accelerate the convergence of DD-do⁃ tial estimates; iteration processing in⁃
[15] TF-domain and itera⁃ main and
Joint vide good initials for DD-domain itera⁃ main iterative MRC detector; iterative MRC creases the complexity; need to add
and tive DD-domain OT⁃ DD do⁃
multi- tive MRC detector detector can fully merge separable taps to null symbols to construct full channel
[16] FS detection main
domain obtain better performance. matrix.
OTFS
detector Iterative joint time- and DD-domain
Time do⁃ Iterative joint time- and DD-domain detec⁃
Iterative joint time- Joint processing of time and DD do⁃ detection increases the complexity of
main and tion can achieve better performance and
and DD-domain OT⁃ mains to form a large iterative detec⁃ designing OTFS detector; a large
DD do⁃ faster convergence by fully utilizing time-
FS detection tion loop. amount external information exchange
main and DD-domain information.
Ref. is inevitable.
[18] Iterative joint TF- and DD-domain de⁃
TF do⁃ Iterative joint TF- and DD-domain detection
Iterative joint TF- tection increases the complexity of de⁃
main and Joint TF and DD domains that form a can achieve better performance and faster
and DD-main OTFS signing OTFS detector; a large amount
DD do⁃ large iterative detection loop. convergence by fully utilizing TF- and DD-
detection external information exchange is inevi⁃
main domain information.
table.
It is relatively simple to design learning-
Refs. Using machine learning techniques to Learning-based detection is un-ex⁃
based signal detection as a black box with⁃
[20] Learning-based OT⁃ DD do⁃ perform signal detection in DD domain plainable; more computing capability
out understanding expert knowledge of OT⁃
– FS detection main or estimate some parameters in conven⁃ is required; massive training and test⁃
FS detection; better detection performance
[23] tional OTFS detector. ing datasets are necessary.
is achieved.
AMP: approximate message passing DD: delay-Doppler MMSE: minimum mean square error MP: message passing MRC: maximum ratio combining
OTFS: orthogonal time frequency space TF: time-frequency ZF: zero forcing

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ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

detection are very complex. In general, the DD-domain non-it⁃ sequence detection even in the presence of fractional Doppler
erative signal detector adopts MMSE/ZF algorithms. Without shifts, and the computational complexity associated with the
iteration operation, the computational complexity and process⁃ domain transformation was low.
ing delay of MMSE/ZF are small, but at the cost of detection The iterative joint TF- and DD-main OTFS detector shown
performance loss. in Fig. 2(f) can be regarded as an improvement of non-iterative
The DD-domain iterative OTFS detector shown in Fig. 2(b) joint TF- and DD-main signal detector. Similar as the iterative
also achieves signal detection in the DD domain, but uses iter⁃ joint time- and DD-domain OTFS detector shown in Fig. 2(e),
ative detection algorithms like MP and its improved algo⁃ the iterative joint TF- and DD-main signal detector forms a
rithms, and the EP algorithm[39]. These algorithms iteratively large iteration loop among the TF domain and DD domain,
update information to achieve better detection performance. which is expected to obtain better performance and faster con⁃
However, the iteration operation brings some extra computa⁃ vergence by utilizing TF- and DD-domain information. Fur⁃
tional complexity. Additionally, the convergence of iterative thermore, based on the OTFS detector shown in Fig. 2(f), an it⁃
detection algorithms needs to be considered. In Ref. [39], the erative joint time-, TF- and DD-main OTFS detector with time-
iterative EP algorithm and its improvement named Approxi⁃ domain equalization is shown in Fig. 2(g).
mate EP (AEP) were studied. They exhibit better bit error rate The learning-enabled OTFS detector shown in Fig. 2(h) us⁃
(BER) performance than MMSE, MP, MRC rank and VB algo⁃ es advanced machine learning method to improve detection
rithms. performance. In Ref. [20], to reduce the complexity of conven⁃
The non-iterative joint TF- and DD-domain OTFS detector tional MP detector in OTFS systems, a damped generalized ap⁃
shown in Fig. 2(c) can be considered as an improvement of the proximate message passing (GAMP) algorithm was studied
DD-domain non-iterative OTFS detector, which utilizes both and deep learning (DL) was introduced to optimize damping
TF- and DD-domain information to improve the detection per⁃ factors. Its BER performance can outperform the classical
formance. In Ref. [17], a sliding window-assisted MMSE (SW- GAMP algorithm and MP algorithm. In Ref. [21], a two-dimen⁃
MMSE) equalization in the TF domain was studied, and a DD sional convolutional neural network (2D-CNN) based detector
equalizer like decision feedback equalizer (DFE) was intro⁃ was studied to replace the conventional OTFS detector, and an
duced. The computation complexity of this non-iterative two- MP-based data augmentation (DA) tool was employed to en⁃
stage equalizer is lower than conventional MMSE, and the large the training features of the input dataset and mitigate the
BER performance is also better than conventional MMSE. effect of the channel variations to some degree, leading to im⁃
The joint non-iterative TF-domain and iterative DD-domain provement of the robustness and learning ability of the deep
OTFS detector shown in Fig. 2(d) can be regarded as an im⁃ neural network (DNN). This 2D-CNN based detector can
provement of the DD-domain iterative OTFS detector, in achieve superior performance compared with the MP detector
which the non-iterative TF-domain equalizer provides good and similar performance as the MAP detector with a very low
initials for the iterative DD-domain OTFS detector to improve complexity. In Ref. [22], a DD-domain symbol-level DDN de⁃
its convergence performance. In Refs. [15] and [16], an itera⁃ tector was studied, which could achieve similar BER perfor⁃
tive MRC detector with initial estimates from the output of TF-
domain MMSE equalizer was studied, as shown in Fig. 4. The Received DD signals YDD,
results show that the iterative MRC detector with initial esti⁃ DD channel information
Received TF
mates can achieve better BER performance than that without signals YTF Initial DD-domain
Detector
output LLRs
TF-domain MMSE equalization, iterative MPA or MMSE. Con⁃ TF channel
TF-domain estimates MRC
detection
MMSE
sidering spatial correlation at the receiver antennas, a sample- matrix HTF equalization Detector input
LLRs
based method to estimate such correlation and the optimized
combining weights for MRC from the estimated correlation ma⁃
Deinter⁃
trix were studied in Ref. [42]. Interleaving
leaving
The iterative joint time- and DD-domain OTFS detector
shown in Fig. 2(e) forms a large iteration loop among the time
Decoder
domain and DD domain, which is expected to obtain better output
LDPC
performance and lower computational complexity by exploit⁃ LLRs
decoding Decoder
ing time domain channel sparsity and DD domain symbol con⁃ input LLRs
stellation constraints. In Ref. [18], the iterative joint time- and Infor⁃
mation
DD-domain signal detector was studied, which adopted an L- bits
MMSE estimator in the time domain and a symbol-by-symbol
DD: delay-Doppler MMSE: minimum mean square error
detection in the DD domain. The results show that this itera⁃ LDPC: low density parity check MRC: maximum ratio combining
tive joint time- and DD-domain signal detector could achieve LLR: log-likelihood ratio

almost the same error performance as the maximum-likelihood ▲Figure 4. Iterative MRC detector[15]

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ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

mance as the full DDN detector and ML detector in static mul⁃ systems, which results in MN × MN matrix inversion. To re⁃
tipath channel with Gaussian noise, while it achieved better duce the complexity of linear signal detection in OTFS sys⁃
BER performance than the full DDN detector and ML detector tems, considering the sparsity and the block circulant nature
in static multipath channel with non-Gaussian noise. In Ref. of equivalent DD channel, some low complexity linear signal
[23], a reservoir computing (RC) -based OTFS detector was detection schemes have been studied.
studied, in which one-shot online learning was sufficiently In Ref. [27], the eigenvalues of G MMSE was computed from
flexible to cope with channel variations among different OTFS the eigenvalues of DD channel matrix H, which can signifi⁃
frames and explicit CSI was not required. cantly reduce the complexity. This MMSE with low complexity
is summarized as follows:
1) Compute the eigenvalues of each block of H, by comput⁃
4 OTFS Detection Algorithms ing DFTs of the first row of each circulant block;
OTFS detection algorithms include linear MMSE/ZF, MP 2) Compute the eigenvalues of H;
and its improvements, MRC, MAP, EP, and VB algorithms. A 3) Compute the eigenvalues of G MMSE, by using the eigenval⁃
summary of these detection algorithms including their compu⁃ ues of H;
tational complexity and BER performance is presented in Ta⁃ 4) Compute G MMSE y.
ble 2. This idea was also adopted by Ref. [28] to study the detec⁃
tion in MIMO-OTFS systems. Unlike the SISO-OTFS channel,
4.1 Linear MMSE/ZF Detection Algorithm the eigenvalue matrix D in MIMO-OTFS channel is not diago⁃
Linear signal detection mainly includes MMSE and ZF, nal, however, the inverse of the DA constructed by the matrix
while MMSE has been adopted by 4G/5G OFDM systems, due D can be performed block-wise by two steps: matrix partition⁃
to its low complexity. The detection matrices of classical ing and backtracking[28].
MMSE and ZF in OTFS systems are G MMSE = ( H H H + The computational complexity of MMSE is mainly caused
σ 2 Ι ) -1 H H and G ZF = ( H H H ) -1 H H, respectively. However, by large matrix inversion. Considering the sparsity of equiva⁃
when these classical MMSE and ZF detection algorithms are lent DD channel matrix and quasi-banded structure of matri⁃
used for OTFS systems directly, they suffer from very high ces in MMSE detection, a lower-upper (LU) factorization-
complexity Ο( M 3 N 3 ). This is because the number of dimen⁃ based low complexity MMSE detection algorithm was studied
sions of equivalent DD channel matrix is MN × MN in OTFS for OTFS systems with reduced CP[25] and full CP[29], in which
high complexity channel inversion is replaced by low complex⁃
▼Table 2. Summary of computational complexity and performance ity LU factorization operation. Further, the final estimate sym⁃
Detection Algorithm Computational Com⁃ Perfor⁃ bols step can be performed by Fast Fourier Transform (FFT).
Reference
Algorithm Characteristic plexity mance Its detailed procedure is illustrated in Fig. 5.
Ref. [39]
Classical
Non-iterative Ο( M 3 N 3 ) There are some other low complexity MMSE/ZF detection
MMSE
algorithms. For example, the one-tap MMSE detection algo⁃
Low complexi⁃
Ref. [27] Non-iterative Ο( MN log ( MN ) ) rithm studied in Ref. [26] achieved low complexity detection
ty MMSE
in pulse-shaped OTFS systems over doubly-dispersive chan⁃
lower-upper
Ref. [25] factorization Non-iterative Ο( MN log ( N ) ) nels, which only estimated the channel main diagonal and the
-based MMSE UAMP>EP> self-interference power instead of interference cancellation
Refs. [31]
MP Iterative Ο(2 IMNS )
Q
AEP and considered the power of the channel estimation error and
>MRC-rake
and [32]
>VB
self-interference as additional tuning variance parameters.
Ref. [33] MF-MP-PC Iterative Ο( IMN (2Q/2 + S ) )
>MP
Ref. [34] GAMP Iterative Ο(2Q IMNS ) >Classical 4.2 MRC Detection Algorithm
Ο( IMN log ( MN ) ) MMSE
The MRC detection algorithm extracts received multipath
Ref. [35] UAMP Iterative ≥low com⁃
+Ο(2Q IMN ) plexity components of the transmitted symbols in the delay-Doppler
Ref. [36] ICMP Iterative Ο(2Q IMNGS ) MMSE grid and combines them by using MRC to improve the signal-
Refs. [15] Ο( IMN ( L + log ( N ) ) ) to-noise ratio (SNR) of the combined signal. The detailed
MRC-rake Iterative
and [16] +Ο( MN ( L + log ( M ) ) ) steps of MRC algorithm are shown as follows[15–16]:
EP Iterative Ο( IMN (2Q + S ) ) 1) Construct circulant matrix having element K m,l, accord⁃
Ref. [39]
AEP Iterative Ο( IMN (2Q + S ) ) ing to the channel Doppler spread vector at each delay tap;
Ref. [40] VB Iterative Ο(2Q IMNS ) 2) Construct matrix R by using a circulant matrix, where
AEP: approximate expectation propagation MMSE: minimum mean square error R m = ∑l ∈ { l } K mH + l,l K m + l,l , m = 0, 1,..., M - l max;
EP: expectation propagation MP: message passing
i

GAMP: generalized approximate message MRC: maximum ratio combining 3) Construct the equations for the symbol vector estimates
passing PC: probability clipping b lm, by using the estimates of symbol vectors from previous iter⁃
ICMP: iterative combining message passing UAMP: unitary approximate message passing
MF: matched filtering VB: variational Bayes ation;

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 A Survey on Low Complexity Detectors for OTFS Systems Special Topic
ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

MP) detection was studied,

σ 2v
Construct HH + 2 I, by
H which aimed at overcoming
σd LU factorization the performance degrada⁃
obtained channel matrix
tion of MP detectors caused
U L by non-ideal Gaussian inter⁃
ference due to the limited
U-1 using back⁃ L-1 using for⁃
H using
H number of interfering sym⁃
ward substitu⁃ ward substitu⁃ AH using d̂
r
tion for qua⁃ tion for qua⁃
sparse matrix⁃
FFT bols for a certain symbol.
vector multipli⁃
sibanded ma⁃
trix
sibanded ma⁃
trix
cation
operations The GA-MP detector mod⁃
eled the individual transmit
signals by Gaussian distri⁃
FFT: fast Fourier transform LU: lower-upper
butions, rather than approxi⁃
▲Figure 5. LU factorization-based low complexity minimum-mean-square-error (MMSE) detection[25] mating the ISI. This detec⁃
tor outperforms the classical
4) Construct g m according to K m + l,l and b lm; MP detector by at least 1.5 dB at a BER of 10−4, with the same
5) Perform MRC of the estimates and obtain the output of complexity order.
the maximal ratio combiner, c m = R -1 m ⋅ g m; To overcome the performance loss of MP detector in the
6) Estimate all information symbol vectors by ML criterion; case of rich scattering environments or fractional Doppler
7) Stop criteria by stopping iteration, when some conditions shifts, a unitary approximate message passing (UAMP) detec⁃
are satisfing, e. g., the number of iterations is up to the maxi⁃ tor was studied in Ref. [35]. Considering the equivalent DD
mum number of iterations. channel is a block circulant matrix with circulant blocks
which can be diagonalized using a 2D DFT matrix, the UAMP
4.3 MP Detection Algorithm and Its Improvements detector performs unitary transform by using a unitary matrix
The MP algorithm[30–32] uses graphical models to decom⁃ after receiving DD signals. As a result, the UAMP detector al⁃
pose a hard problem into several easy sub-problems and itera⁃ lows more efficient implementation with the FFT algorithm,
tively solve them by passing messages between different types and can achieve better BER performance than VB, MRC, MP,
of nodes. The detailed processing steps of an MP algorithm are and AMP algorithms.
shown as follows[32]: In Ref. [36], fractionally spaced sampling (FSS) was intro⁃
1) Message passings from observation nodes to variable duced to the OTFS receiver, which can be equivalent to a SI⁃
nodes: Observation nodes compute the mean and variances of MO system, and then iterative combining message passing (IC⁃
Gaussian random variables and pass them to variables nodes; MP) and turbo message passing (TMP) detectors were studied,
2) Message passings from variable nodes to observation by exploiting the sparsity of DD channel and the channel di⁃
nodes: Variable nodes update the probability mass function versity gain via FSS. The ICMP detector combines two receiv⁃
(PMF) of the alphabet and pass them to observation; ing channels and then performs message passing iteratively
3) Convergence indicator: The convergence indicator is with the Gaussian approximation of the interference compo⁃
computed; nents. Considering there are two receiving channels in the
4) Update decision: The decision on the transmitted sym⁃ FSS receiver, the TMP detector uses two individual MP equal⁃
bols is updated, if needed; izers with extrinsic log-likelihood ratios (LLRs) exchanging to
5) Stopping criteria: The iteration is stopped when some form a turbo receiver.
conditions are satisfing. Note that different stopping criteria The MP detection algorithm is based on the factor graph be⁃
will affect convergence and the number of iterations. tween variable nodes and observation nodes, and is very effi⁃
Popular MPA detectors still suffer from high complexity cient for the sparse channel. However, its complexity will be
and high storage requirements, as well as error floor of BER increased when there are a large number of paths such as
performance at high SNRs. To further improve the MPA detec⁃ multi-antenna transmission. To overcome this challenge for
tor, a matched-filtering based message passing detector with OTFS systems with multi-antennas, a joint MP and MRC de⁃
probability clipping (MF-PC-MPD) for OTFS systems was tection algorithm was studied in Ref. [37], which separated the
studied in Ref. [33]. MF-PC-MPD first performs matched fil⁃ Doppler frequency offsets (DFOs) in the spatial domain with a
tering on received OTFS signals, and then uses probability beamforming network to ensure the equivalent sparsity and ob⁃
clipping to redistribute the probability if the probability distri⁃ tained the best diversity by employing MRC to combine all
bution satisfies a certain condition, which makes the symbol beamforming branches. The main steps in each iteration of the
variance fluctuate within a certain range and close to each oth⁃ joint MP-MRC algorithm are: 1) Each observation node passes
er; in this way, the Gaussianity is retained. the mean and variance of the interference terms to the con⁃
In Ref. [34], a Gaussian approximate message passing (GA- nected variable nodes; 2) Each variable node updates the

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Special Topic A Survey on Low Complexity Detectors for OTFS Systems
ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

PMF of alphabet symbols and then passes it back to the con⁃ tion of the a posteriori distribution p(d|y). The detailed proce⁃
nected observation nodes; 3) The joint convergence indicator dures are shown as follows:
of all beamforming branches is calculated in the MRC fashion 1) Formulate the approximation q*(d) as an optimal problem
after each iteration. Finally, when the convergence is satisfing, by minimizing the Kullback-Leibler divergence;
the soft output of each transmitted symbol is computed, fol⁃ 2) Construct the approximation q(d) by mean filed approxi⁃
lowed with hard decision. mation as q ( d ) = ∏k,l q k,l ( d k,l ). Note that in this form, all vari⁃
ables are mutually independent;
4.4 MAP Detection Algorithm
3) Transform p(d|y) into a pairwise form;
The MAP detection algorithm uses all received signals to es⁃
4) Obtain the variational function in the optimization prob⁃
timate all transmitted symbols, which can be formulated as x̂ =
lem in Step 1, by substituting q(d) and p(d|y) into the optimiza⁃
arg max Pr ( x|y, H ). Obviously, its complexity increases with
x ∈ Α NM × 1 tion problem;
exponent in NM[32]. To reduce the complexity, a near-optimal 5) Find a stationary point of the variational function, by iter⁃
symbol-wise MAP detection algorithm was studied in Ref. atively updating each local function q k,l ( d k,l );
[38], and its detection rule is expressed as x ( k, l) = 6) Approximate a posteriori distributions for all the data
arg max Pr ( x ( k, l)|y, H ). symbols iteratively, resulting in the approximate marginals
x ( k,l) ∈ Α
q* k,l ( d k,l );
4.5 EP Detection Algorithm 7) Estimate the transmitted symbols by finding the maxi⁃
The OTFS system can be represented by a sparsely-connect⁃ mum of marginal distribution q* k,l ( d k,l ).
ed factor graph where each variable node (VN) is connected to
factor nodes D. The main idea of EP algorithm[39] is to use a
Gaussian distribution through distribution projection to ap⁃ 5 Hybrid OFDM-OTFS Multi-Waveform
proximate the sophisticated posterior distribution in the mes⁃ Detector Structure
sage updating steps, which leads to the complicated belief To satisfy the requirements for various scenarios and appli⁃
computation being replaced by means and variances computa⁃ cations, mobile communication systems have evolved from sin⁃
tion. The detailed steps of EP algorithm are represented as fol⁃ gle waveform to multi-waveform systems. For example, in 4G
lows[39]: systems, high-spectrum efficiency CP-OFDM is adopted by
1) Compute the joint distribution p ( x DD , y DD ); the downlink, while the uplink adopts single-carrier frequency
2) Compute the likelihood function p ( y b |x DD ); division multiple access (SC-FDMA) with a low peak to aver⁃
3) Compute the means and variances passed from FNs and age power ratio (PAPR). In 5G systems, the downlink adopts
VNs as u if b - > x a and v if b - > x a; CP-OFDM, while CP-OFDM and discrete Fourier transform-
4) Compute the means and variances passed from VNs and spread orthogonal frequency-division multiplexing (DFT-s-
FNs as u ix a - > f b and v ix a - > f b; OFDM) with low-PAPR are adopted by the uplink. In general,
when UE is in the cell center, UE can still obtain the expected
5) Compute the a posteriori LLR of each coded bit as c qa;
QoS with low transmit power, thus UE can adopt CP-OFDM
6) Stop criteria by stopping iteration, when some conditions
waveform with higher spectrum efficiency. When UE is at the
are satisfied.
cell edge, UE should increase transmit power to obtain the ex⁃
Note that the main computational complexity of the EP algo⁃
rithm depends on the number of non-zero elements D of chan⁃ pected QoS, which requires UE to adopt DFT-s-OFDM wave⁃
nel matrix. In case of rich scattering scenarios and fractional form with low PAPR. Since OFTS exhibits excellent perfor⁃
Doppler shift, D is relatively large. To further reduce the com⁃ mance in high mobility environments, if OTFS is accepted by
putational complexity, small channel coefficients can be ap⁃ future mobile communication systems (FMCS), its downlink
proximated to a fixed value (e. g., the median value of these waveform will be CP-OFDM or OTFS, while its uplink wave⁃
small elements) during the message passing from FNs to VNs, form will be CP-OFDM, DFT-s-OFDM or OTFS. To determine
which is named channel coeffificients-aware approximate EP each user’s uplink (UL)/downlink (DL) waveform, the base
(AEP) algorithm[39]. station shall call UL and DL waveform decision algorithms
with the input of user mobility speed and user type. Further,
4.6 VB Detection Algorithm the base station also needs to dynamically switch user’s down⁃
The optimal MAP detection algorithm suffers from very link and uplink waveform type if some conditions are trig⁃
high complexity, which increases exponentially with the size gered.
of data symbol vector. To reduce the complexity of MAP algo⁃ Fig. 6 shows the hybrid OFDM-OTFS multi-waveform detec⁃
rithm, a variational Bayes algorithm was studied in Ref. [40]. tor structure, in which Fig. 6(a) is for single user OTFS sys⁃
The main idea of VB algorithm is to find a distribution q(d) tems and Fig. 6(b) is for multi-user OTFS systems. The base
from a tractable distribution family as an optimized approxima⁃ station first determines the DL and UL waveform types accord⁃

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 A Survey on Low Complexity Detectors for OTFS Systems Special Topic
ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

Fig. 7 shows the downlink wave⁃

DL waveform type form selection procedure, which
=enum{CP-OFDM, OTFS}
will select CP-OFDM or OTFS ac⁃
DL waveform type cording to user’s mobility speed.
CP-OFDM Tx Since OTFS does not show excel⁃
RRCReconfiguration
OTFS
(DL waveform type, Rx CP-OFDM lent performance in low mobility,
DL waveform component UL waveform type， etc. ) the downlink adopts CP-OFDM
OTFS
waveform when user’s mobility
UL waveform type DL waveform detector
=enum{CP-OFDM, DFT-s-OFDM, OTFS} speed is lower than a certain
speed threshold, otherwise, the
UL waveform type
CP-OFDM downlink adopts OTFS waveform.
Rx CP-OFDM Fig. 8 shows the uplink wave⁃
DFT-s-OFDM
Tx form selection procedure, which
OTFS
DFT-s-OFDM will select CP-OFDM, DFT-s-
UL waveform detector OTFS OFDM or OTFS according to us⁃
UL waveform component
er’s mobility speed and user
(a) type. Since UE has strict require⁃
DL waveform type
ments for waveform’s PAPR, the
UE 1
DL waveform type
ISFFT
Rx OTFS uplink adopts DFT-s-OFDM with
Modulated
symbols CP-OFDM low PAPR when UE is a cell edge
Tx
CP-OFDM DL waveform detector
user (CEU). When UE is a cell
…

DL waveform type UL waveform type

UE K Modulated ISFFT center user (CCU), the uplink
symbols OTFS
Tx
DFT-s-OFDM
adopts CP-OFDM waveform if us⁃
DL multi-user mulit-waveform component
CP-OFDM er mobility speed is lower than a
UL waveform type UL waveform component certain speed threshold, other⁃
wise, the uplink adopts OTFS
=enum{CP-OFDM, DFT-s-OFDM OTFS} UE 1
… DL waveform type
OTFS
Rx waveform.
Rx CP-OFDM
DFT-s-OFDM
Considering multi-user and
CP-OFDM UE 1 OTFS
UE K
DL waveform detector
multi-waveform communication
…

UL waveform type UL waveform type systems, the base station needs to

=enum{CP-OFDM, DFT-s-OFDM OTFS}
simultaneously process multiple
DFT-s-OFDM
DFT-s-OFDM
Rx Tx
CP-OFDM users with different waveform
CP-OFDM
OTFS types, which requires to design
OTFS UE K
UL waveform component multiple access for multi-wave⁃
UL waveform detector
(b) form multi-user systems. Taking
CP: cyclic prefix OFDM: orthogonal frequency division multiplexing
downlink transmission for an ex⁃
DFT-s-OFDM: Discrete Fourier transform-spread orthog⁃ OTFS: orthogonal time frequency space ample, Fig. 9 shows two multiple
DL: downlink
onal frequency-division multiplexing UE: user equipment
UL: uplink
access schemes for downlink hy⁃
ISFFT: inverse symplectic finite Fourier transform brid OFDM-OTFS multi-user sys⁃
▲Figure 6. Hybrid OTFS-OFDM multi-waveform detector structure: (a) single user OTFS system; (b) tems. In Fig. 9(a), the resource of
multi-user OTFS system each user allocated in the TF do⁃
main is orthogonal and OTFS us⁃
ing to certain algorithms with the input of user mobility speed ers’resource in the DD domain is also orthogonal, which can
and user type. And then such waveform information is carried effectively avoid inter-user interference. In Fig. 9(b), the T-F
by the RRCReconfiguration message and is configured to UE resource are firstly divided into two parts, in which one part is
through the air interface. As a result, the base station and UE for CP-OFDM users and the other part is for OTFS users.
perform the same waveform processing. Comparing single user Then, CP-OFDM users occupy different T-F resources; while
hybrid OTFS-OFDM systems and multi-user hybrid OTFS- OTFS users are spread in the total T-F resources allocated to
OFDM systems, the main difference and difficulty are in the all the OTFS users, each OTFS user is orthogonal in the DD
base station. In multi-user hybrid OTFS-OFDM systems, since domain. Comparing the schemes shown in Figs. 9(a) and 9(b),
the base station supports multi-user transmission and users OTFS users in Fig. 9(a) suffer from less inter-user interfer⁃
may adopt different waveforms, the base station should have ence, as they are orthogonal in both DD and T-F domains.
the capability of processing multiple waveform in parallel. However, their diversity gain is also lower than that in Fig. 9

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Special Topic A Survey on Low Complexity Detectors for OTFS Systems
ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

Start

Obtain user mobility speed

DD domain T-F domain

CP-OFDM user 1 CP-OFDM user 2 OTFS user 1 OTFS user 2
Y If user mobility speed N (a)
< threshold?

Output downlink waveform Output downlink waveform

CP-OFDM OTFS

DD domain T-F domain

End CP-OFDM user 1 CP-OFDM user 2 OTFS user 1 OTFS user 2
Total T-F resource of OTFS users
CP: cyclic prefix OTFS: orthogonal time frequency space (b)
OFDM: orthogonal frequency division multiplexing CP: cyclic prefix OTFS: orthogonal time frequen⁃
▲Figure 7. Downlink waveform selection procedure DD: delay Doppler cy space
OFDM: orthogonal frequency division multiplexing T-F: time-frequency

Start
▲Figure 9. Multiple access schemes for downlink hybrid OFDM-OTFS
systems in multi-user scenario: (a) hybrid orthogonal frequency divi⁃
Obtain user mobility speed sion multiple access (OFDMA) and orthogonal time frequency space
and user type (CCU or CEU) multiple access (OTFSMA) in both DD and TF domains; (b) hybrid
OFDMA and OTFSMA with overlap in the TF domain
Y N
User type is CEU? achieve dramatic BLER performance gain in a low-speed sce⁃
nario while some BLER performance gain can be obtained in
Output uplink
waveform
User mobility N a high-speed scenario. Therefore, it is suggested that low-com⁃
speed ≥ threshold?
DFT-s-OFDM plexity OFDM modulation is used to low-speed users, while
Y high-speed users adopt OTFS modulation. Since different us⁃
Output uplink Output uplink ers with different speeds coexist in the base station, hybrid
waveform waveform
OTFS CP-OFDM OTFS and OFDM systems should be considered.

End 6 Main Challenges and Future Research Di⁃

CCU: cell center user transform-spread orthogonal frequency-division
CEU: cell edge user multiplexing rections
CP: cyclic prefix OFDM: orthogonal frequency division multiplexing
DFT-s-OFDM: Discrete Fourier OTFS: orthogonal time frequency space
6.1 Main Challenges
▲Figure 8. Uplink waveform selection procedure
6.1.1 Low Complexity OTFS Detection Algorithms
(b), as diversity gain of OTFS modulation is positively related In OTFS systems, NM symbols in the DD domain are
with the number of resources. Obviously, the number of re⁃ spread to the TF domain by employing ISFFT transform,
sources allocated to each OTFS user in Fig. 9(a) is less than which results in the large number of dimensions of the equiva⁃
that in Fig. 9(b). For UL multi-waveform multi-user systems, lent DD channel. Furthermore, with the introduction of multi-
they are similar as the downlink situation. antenna transmission, the complexity of OTFS detection will
Fig. 10 shows the block error rate (BLER) performance of also increase dramatically. According to current research re⁃
two-user OTFS systems without inter-user interference (IUI) sults, the minimum computational complexity of OTFS detec⁃
and two-user hybrid OTFS-OFDM systems in fractional Dop⁃ tor is Ο( MN log ( N ) ). Obviously, the computational complexi⁃
pler channels, where the speed of User 1 is 500 km/h, while ty of OTFS detector is still far higher than that of OFDM detec⁃
the speed of User 2 is 10 km/h. In Fig. 10(a), both User 1 and tor. As a result, current OTFS detection algorithms cannot sat⁃
User 2 adopt OTFS modulation, while in Fig. 10(b), User 1 isfy the requirements for OTFS systems. Additionally, many
adopts OTFS modulation but User 2 adopts OFDM modula⁃ works assume that the DD channel matrix is block circulant
tion. The results show that the OTFS modulation cannot and sparse. However, as shown in some works, if there are

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 A Survey on Low Complexity Detectors for OTFS Systems Special Topic
ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

100 100 waveform processing and wave⁃

User 1 (500 km/h) User 1 (500 km/h) form switching, which increases
User 2 (10 km/h) User 2 (10 km/h)
the complexity of the receiver.
10-1 Therefore, designing a low com⁃
plexity unified multi-waveform re⁃

BLER
BLER

10 -1

ceiver is also a challenge.

10-2
6.2 Further Research Direc⁃
tions
10 -2

10-3
10 15 20 25 10 15 20 25 6.2.1 Advanced Low Complexity
SNR/dB SNR/dB OTFS Detectors and Detec⁃
(a) (b)
tion Algorithms
BLER: block error rate SNR: signal-to-noise ratio
The computational complexity
▲Figure 10. BLER performance: (a) two-user orthogonal time frequency space (OTFS) systems without
inter-user interference (IUI); (b) two-user hybrid OTFS-orthogonal frequency division multiplexing
of current OTFS detection algo⁃
(OFDM) systems rithms has been reduced to
Ο( MN log ( N ) ), but it is still
rich scattering or a large number of paths such as MIMO-OT⁃ much higher than the acceptable complexity in practical sys⁃
FS systems, the block circulant and sparsity will not be satisf⁃ tems. Therefore, in the future, the first important work is to
ing. Furthermore, integer Doppler shifts are assumed in many study advanced low complexity OTFS detector structures and
works, while the assumption of fractional Doppler shifts is detection algorithms. As for OTFS detector structures, even
more reasonable in practical OTFS systems. However, fraction⁃ though some single domain and joint multi-domain OTFS de⁃
al Doppler shifts will increase computational complexity and tectors have been studied, there are still some novel OTFS de⁃
result in more serious inter-Doppler interference. Therefore, tector structures to be studied such as joint channel estimation
the research on low complexity OTFS detection algorithm is a and detection. As for OTFS detection algorithms, some non-it⁃
great challenge. erative and iterative detection algorithms have been studied,
but their computation complexities are still very high, up to
6.1.2 Decoupling Between MIMO-OTFS Detector and Precoder Ο( MN log ( N ) ). The properties of DD channel matrix together
Current research on OTFS receivers mainly focuses on with some simplified and approximated matrix operations
SISO-OTFS systems, while just a few works study MIMO-OT⁃ should be further exploited to develop novel OTFS detection
FS systems. However, when extending SISO-OTFS detection algorithms. Furthermore, iterative detection algorithms can
algorithms to MIMO-OTFS systems, it will face some new achieve better performance, but they are needed to further an⁃
problems. For example, when the MRC detector is used to MI⁃ alyze the convergence by employing some tools such as extrin⁃
MO-OTFS systems, it needs to obtain the precoding matrix. sic information transfer (EXIT) chart and design efficient itera⁃
However, when a non-codebook-based precoding scheme is tion stopping schemes to reduce the number of iterations.
adopted, it is difficult for the OTFS receiver to obtain the pre⁃
coding matrix. That is, in order to match the detection algo⁃ 6.2.2 Learning-Based OTFS Detectors
rithms, some detectors require special design at the MIMO- Several OTFS detection algorithms have been studied, but
OTFS transmitter side. This strong coupling design between they reduce the computational complexity by exploiting the
the MIMO-OTFS receiver and transmitter reduces the flexibili⁃ block circulant and sparsity, as well as simplified and approxi⁃
ty of MIMO-OTFS system design and processing. Therefore, mated mathematical methods. It will become more difficult to
the research on MIMO-OTFS detectors and detection algo⁃ find more low complexity OTFS detection algorithms. A learn⁃
rithms, which is decoupled with the MIMO-OTFS transmitter, ing-based method provides a new way for the OTFS detector,
is another challenge. which considers OTFS detection processing as a black box
and performs OTFS detection by deploying online learning
6.1.3 Multi-Waveform Hybrid OTFS Detector model trained offline. Currently, there are few research works
OTFS modulation can obtain delay-Doppler diversity gain, on learning-based OTFS detector, and thus many efforts are
and thus it can achieve better performance than conventional needed to study learning models and performance verification.
OFDM systems in high mobility scenarios. However, OTFS Therefore, the learning-based OTFS detector is a future re⁃
modulation cannot obtain obvious performance gain in low mo⁃ search direction.
bility scenarios. When users experience different scenarios, it
would be better to switch waveform to obtain better perfor⁃ 6.2.3 Unified Multi-Waveform Detector Design
mance. The coexistence of multiple waveforms, such as If OTFS modulation is adopted, the downlink and uplink of
OFDM and OTFS, requires that the receiver supports multi- future mobile communication systems will be multi-waveform.

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Special Topic A Survey on Low Complexity Detectors for OTFS Systems
ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

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 A Survey on Low Complexity Detectors for OTFS Systems Special Topic
ZHANG Zhengquan, LIU Heng, WANG Qianli, FAN Pingzhi

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[32] RAVITEJA P, PHAN K T, HONG Y, et al. Interference cancellation and itera⁃ information and communication engineering from Southwest Jiaotong Universi⁃
tive detection for orthogonal time frequency space modulation [J]. IEEE trans⁃ ty, China in 2019. From 2008 to 2013, he was with ZTE Corporation as a com⁃
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10.1109/TWC.2018.2860011 KTH Royal Institute of Technology, Sweden. Since 2019, he has been with the
Department of Communication Engineering, School of Information Science and
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tions on vehicular technology, 2021, 70(10): 10999 – 11004. DOI: 10.1109/ neering from Southwest Jiaotong University, China in 2013. Since 2013, he has
TVT.2021.3102673 been with the Department of Communication Engineering, School of Informa⁃
[35] YUAN Z D, LIU F, YUAN W J, et al. Iterative detection for orthogonal time tion Science and Technology, Southwest Jiaotong University. His research inter⁃
frequency space modulation with unitary approximate message passing [J]. ests include next-generation wireless communications, rail transit wireless com⁃
IEEE transactions on wireless communications, early access. DOI: 10.1109/ munications, machine learning and intelligent wireless communications.
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tionally spaced sampling approach [J]. IEEE transactions on wireless commu⁃ WANG Qianli received the B.S. and M.S. degrees in electronic and informa⁃
nications, 2021, 20(7): 4072–4086. DOI: 10.1109/TWC.2021.3055585 tion engineering and the Ph.D. degree from the University of Electronic Science
[37] CHENG J Q, JIA C L, GAO H, et al. OTFS based receiver scheme with multi-an⁃ and Technology of China in 2013, 2016 and 2021, respectively. Since 2021, he
tennas in high-mobility V2X systems [C]//IEEE International Conference on Com⁃ has been with the Department of Communication Engineering, School of Infor⁃
munications Workshops (ICC Workshops). Dublin, Ireland: IEEE, 2020: 1 – 6. mation Science and Technology, Southwest Jiaotong University, China. His re⁃
DOI: 10.1109/ICCWorkshops49005.2020.9145313 search interests include estimation theory, array signal processing, radar sensor
network, and compressed sensing.
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FAN Pingzhi is currently a distinguished professor of Southwest Jiaotong Uni⁃
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versity, China, and a visiting professor of Leeds University, UK (1997–). He is
propagation for OTFS modulation [J]. IEEE communications letters, 2021, 25 a recipient of the UK ORS Award (1992), the National Science Fund for Distin⁃
(10): 3180–3184. DOI: 10.1109/LCOMM.2021.3101827 guished Young Scholars (1998, NSFC), IEEE VT Society Jack Neubauer Memo⁃
[40] YUAN W J, WEI Z Q, YUAN J H, et al. A simple variational Bayes detector rial Award (2018), IEEE SP Society SPL Best Paper Award (2018), IEEE WC⁃
for orthogonal time frequency space (OTFS) modulation [J]. IEEE transactions SP 10-Year Anniversary Excellent Paper Award (2009–2019), and IEEE/CIC
on vehicular technology, 2020, 69(7): 7976 – 7980. DOI: 10.1109/ ICCC Best Paper Award (2020). He served as a chief scientist of the National
TVT.2020.2991443 “973”Plan Project between January 2012 and December 2016. He is an IEEE
[41] QU H Y, LIU G H, ZHANG L, et al. Low-complexity symbol detection and in⁃ VTS Distinguished Speaker (2019–2022), a fellow of IEEE, IET, CIE and CIC.
terference cancellation for OTFS system [J]. IEEE transactions on communica⁃ His research interests include high mobility wireless communications, massive
tions, 2021, 69(3): 1524–1537. DOI: 10.1109/TCOMM.2020.3043007 random-access techniques, and signal design and coding.
[42] THAJ T, VITERBO E. Low-complexity linear diversity-combining detector for

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