Wireless communication techniques for transmitting and receiving reference signals is described. The reference signals may include pilot signals that are transmitted using transmission resources that are separate from data transmission resources. Pilot signals are continuously transmitted from a base station to user equipment being served. Pilot signals are generated from delay-Doppler domain signals that are processed to obtain time-frequency signals that occupy a two-dimensional lattice in the time frequency domain that is non-overlapping with a lattice corresponding to data signal transmissions.