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Terahertz (THz) integrated sensing and communication (ISAC) is a promisinginterdisciplinary technology that realizes simultaneously transmittingTerabit-per-second (Tbps) and millimeter-level accurate environment or humanactivity sensing. However, both communication performance and sensing accuracyare influenced by the Doppler effects, which are especially severe in the THzband. Moreover, peak-to-average power ratio (PAPR) degrades the THz poweramplifier (PA) efficiency. In this paper, a discrete Fourier transform spreadorthogonal time frequency space (DFT-s-OTFS) system with superimposed pilots isproposed to improve the robustness to Doppler effects and reduce PAPR for THzISAC. Then, a two-phase sensing parameter estimation algorithm is developed tointegrate sensing functionality into the DFT-s-OTFS waveform. Meanwhile, alow-complexity iterative channel estimation and data detection method with aconjugate gradient based equalizer is proposed to recover the data symbols ofDFT-s-OTFS. The proposed DFT-s-OTFS waveform can improve the PA efficiency by10% on average compared to OTFS. Simulation results demonstrate that theproposed two-phase sensing estimation algorithm for THz DFT-s-OTFS systems isable to realize millimeter-level range estimation accuracy anddecimeter-per-second-level velocity estimation accuracy. Moreover, theeffectiveness of the iterative method for data detection aided by superimposedpilots in DFT-s-OTFS systems is validated by the simulations and the bit errorrate performance is not degraded by the Doppler effects.

DFT-Spread Orthogonal Time Frequency Space System with Superimposed Pilots for Terahertz Integrated Sensing and Communication