Sixth-generation (6G) communication systems are poised to accommodate high data-rate wireless communication services in highly dynamic channels, with applications including high-speed trains, unmanned aerial vehicles, and intelligent transportation systems. Orthogonal frequency-division multiplexing (OFDM) modulation suffers from performance degradation in such high-mobility applications due to high Doppler spread in the channel. The recently proposed Orthogonal Time Frequency Space (OTFS) modulation scheme outperforms OFDM in terms of supporting a higher transmitter (Tx) and receiver (Rx) user velocity. Additionally, the highly-dynamic time-frequency (TF) channel has little effect on OTFS modulated signals, which enables the realization of low-complexity pre-processing architectures for implementing massive-multiple input multiple outputs (MIMO) based OTFS systems. However, while OTFS has received attention in the literature from a theory and simulation perspective, there has been comparatively little work on real-time FPGA implementation of OTFS waveforms. Thus, in this paper, we first present a mathematical overview of OTFS modulation and then describe an FPGA implementation of OTFS implementation on hardware. Power, area, and timing analysis of the implemented design on a Zynq UltraScale+ RFSoC FPGA are provided for benchmarking purposes.

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