The recent emergence of orthogonal time frequency space (OTFS) modulation as a novel PHY-layer mechanism is more suitable in high-mobility wireless communication scenarios than traditional orthogonal frequency division multiplexing (OFDM). Although multiple studies have analyzed OTFS performance using theoretical and ideal baseband pulseshapes, a challenging and open problem is the development of effective receivers for practical OTFS systems that must rely on non-ideal pulseshapes for transmission. This work focuses on the design of practical receivers for OTFS. We consider a fractionally spaced sampling (FSS) receiver in which the sampling rate is an integer multiple of the symbol rate. For rectangular pulses used in OTFS transmission, we derive a general channel input-output relationship of OTFS in delay-Doppler domain without the common reliance on impractical assumptions such as ideal bi-orthogonal pulses and on-the-grid delay/Doppler shifts. We propose two equalization algorithms: iterative combining message passing (ICMP) and turbo message passing (TMP) for symbol detection by exploiting delay-Doppler channel sparsity and the frequency diversity gain via FSS. We analyze the convergence performance of TMP receiver and propose simplified message passing (MP) receivers to further reduce complexity. Our FSS receivers demonstrate stronger performance than traditional receivers and robustness to the imperfect channel state information knowledge.
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