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The orthogonal time frequency space (OTFS) modulation has emerged as apromising modulation scheme for high mobility wireless communications. Toenable efficient OTFS detection in the delay-Doppler (DD) domain, the DD domainchannels need to be acquired accurately. To achieve the low latency requirementin future wireless communications, the time duration of the OTFS block shouldbe small, therefore fractional Doppler shifts have to be considered to avoidsignificant modelling errors due to the assumption of integer Doppler shifts.However, there lack investigations on the estimation of OTFS channels withfractional Doppler shifts in the literature. In this work, we develop a highperforming channel estimator for OTFS with the bi-orthogonal waveform or therectangular waveform. Instead of estimating the DD domain channel directly, weestimate the channel gains and (fractional) Doppler shifts that parameterizethe DD domain channel. The estimation is formulated as a structured signalrecovery problem with a Bayesian treatment. Based on a factor graphrepresentation of the problem, an efficient message passing algorithm isdeveloped to recover the structured sparse signal (thereby the OTFS channel).The Cramer-Rao Lower Bound (CRLB) for the estimation is developed and theeffectiveness of the algorithm is demonstrated through simulations.

Message Passing Based Structured Sparse Signal Recovery for Estimation of OTFS Channels with Fractional Doppler Shifts