A receiver for an orthogonal time frequency space (OTFS) transmission system comprising a first receiver-side transformation unit and a second receiver-side transformation unit, a Karhunen-Loeve Basis Expansion Modeling (KL-BEM) channel estimation unit, a pilot removal unit, and an equaliser unit, wherein the receiver is adapted to receive, at an input of the first receiver-side transformation unit, a time-domain signal representing a communication frame comprising data signals and pilots superimposed thereon, transmitted over a communication channel, wherein the first receiver-side transformation unit is adapted to output a two-dimensional representation of the received communication frame in the time-frequency domain, wherein the output of the first receiver-side transformation unit is provided to an input of the second receiver-side transformation unit, which outputs a two-dimensional representation of the received communication frame comprising data signals and superimposed pilots in the delay-Doppler domain, wherein the output of the second receiver-side transformation unit is connected to a first input of the Karhunen-Loeve Basis Expansion Modeling (KL-BEM) channel estimation unit, which receives, at a second input, a signal (xp) representing the superimposed pilots, and which outputs an estimation (Ĥti) of the time-domain channel matrix, wherein the output of the KL-BEM estimation unit, along with the output of the second receiver-side transformation unit, is connected to respective inputs of the pilot removal unit, which is adapted to remove the superimposed pilots from the received signal (y) output from the second receiver-side transformation unit, and which outputs a signal representing an estimation of the only the data comprised in the received two-dimensional transmission frame in the delay-Doppler domain, wherein the output of the pilot removal unit is connected to the equaliser unit, which is adapted to output an estimated set of data signals ({circumflex over (x)}di), wherein the output of the equaliser unit is fed back to a third input of the KL-BEM channel estimation unit, wherein the receiver is adapted to iteratively repeat the channel estimation in the KL-BEM channel estimation unit, which is further adapted to, in the iterations, determine further estimations (Ĥti≥1) of the time-domain channel matrix based on the received signal (y) output from the second receiver-side transformation unit, the signal (xp) representing the superimposed pilots, and the previously estimated set of data signals ({circumflex over (x)}di), to remove the superimposed pilots from the received signal (y) output from the second receiver-side transformation unit in the pilot removal unit, and to estimate a set of data signals ({circumflex over (x)}di≥1) in the equaliser unit, until a termination criterion is met.