Constant-Envelope Waveform Design and Phase Recovery for Integrated Sensing and Communication in High-Mobility Multipath Environments

High-mobility dual-functional radar–communication systems require a common waveform that combines delay–Doppler information organization, sensing resolution, and power-efficient transmission. We present a cyclically closed constant-envelope orthogonal time frequency space–continuous phase modulation–linear frequency modulation (OTFS–CPM–LFM) waveform and matched transceiver architecture. Hermitian delay–Doppler mapping and direct-current (DC) row nulling create a real, zero-sum drive with a reversible frame-level phase representation. The communication receiver combines a Tikhonov-regularized waveform inverse with reference-aided unwrapping and tail-biting phase regression, while the radar receiver reconstructs the data-dependent current-frame reference. Numerical results verify the structural waveform properties and characterize communication, radar, and computational tradeoffs. They also quantify degradation under controlled complex-gain channel-state-information mismatch and show that phase regression is less reliable at a low signal-to-noise ratio (SNR). The constant-envelope claim applies only to ideal discrete complex-baseband samples and does not include pulse shaping or radio-frequency hardware. The framework therefore provides a self-consistent waveform interface while exposing tradeoffs among payload, recovery reliability, sensing sidelobes, and implementation cost.