I. Introduction
A wide range of communication scenarios will be supported in the beyond 5G and 6G wireless communication networks, including diversified communication devices such as self-driving cars [1], unmanned aerial vehicles, low Earth orbit satellites [2], [3] and high-speed trains. One of the key challenges imposed in these scenarios is to provide reliable communication service in a high-mobility environment. The orthogonal frequency division multiplexing (OFDM), being the mainstream modulation technique in the current communication systems, suffers severe performance degradation due to Doppler effect. Orthogonal time frequency space (OTFS) is a recently proposed two-dimensional (2D) multi-carrier modulation technique [4], which is a promising candidate for high-mobility communications [5]. OTFS modulates the information in the Delay-Doppler (DD) domain and each symbol is mapped to the entire time frequency (TF) domain by 2D transformation, which takes advantage of the full TF diversity of the channel [6]. Additionally, it converts the complex time-varying channel in the time domain into a sparse channel in the DD domain [7]. Therefore, OTFS can obtain better performance in high-mobility channels.