Communication perception integrated Doppler robust parameter estimation method based on OTFS

The invention discloses an OTFS-based communication-sensing integrated Doppler robust parameter estimation method, which comprises the following steps: constructing a communication-sensing integrated signal model, and obtaining a communication-sensing integrated emission signal; acquiring a communication-sensing integrated echo signal based on the communication-sensing integrated emission signal; performing block processing on the communication sensing integrated echo signal to obtain an echo signal block processing signal; preprocessing the echo signal block processing signal, and constructing a new cyclic prefix signal; according to the new cyclic prefix signal, selecting a signal threshold to carry out communication information elimination to obtain a two-dimensional index signal carrying time delay and Doppler information; and performing target parameter estimation on the two-dimensional index signal to obtain a target parameter estimation result. According to the invention, accurate sensing of the distan