6G system is evolving toward full-spectrum coverage,ultra-wide bandwidth, and high mobility, resulting in increasingly complex propagation environments. The deep integration of communication and sensing is widely recognized as a core 6G vision, underscoring the importance of comprehensive environment awareness. Accurate channel modeling forms the foundation of 6G system design and optimization, and channel sounders provide the essential empirical basis. However, existing channel sounders, although supporting wide bandwidth and large antenna arrays in selected bands, generally lack cross-band capability, struggle in dynamic scenarios, and provide limited environmental awareness. The absence of detailed environmental information restricts the development of environment-aware channel models. To address this gap, we propose a multi-modal sensing and channel sounding fusion platform that enables temporally and spatially synchronized acquisition of images, point clouds, geolocation information, and multi-band multi-antenna channel data. The modular architecture facilitates rapid deployment in diverse dynamic environments. The platform supports Sub-6 GHz and mmWave bands with up to 1 GHz bandwidth and 1 ns delay resolution, enabling multi-antenna measurements with a channel switching rate of 8 ms. Moreover, it achieves centimeter-level and 360° environmental sensing accuracy and meter-level positioning accuracy. Key performance metrics of the platform, including dynamic range, phase stability, delay resolution, and multimodal data synchronization, are validated through vehicle-to-infrastructure measurement campaign. The established platform supports environment-channel joint modeling, enabling analysis and optimization of channel models in dynamic 6G scenarios.

翻译：6G系统正朝着全频谱覆盖、超宽带和高移动性方向演进，导致传播环境日益复杂。通信与感知的深度融合被广泛认为是6G的核心愿景，突显了全面环境感知的重要性。精确的信道建模是6G系统设计与优化的基础，而信道探测仪提供了必要的经验依据。然而，现有的信道探测仪虽然在特定频段支持宽带宽和大规模天线阵列，但普遍缺乏跨频段能力，在动态场景中表现不佳，且环境感知能力有限。详细环境信息的缺失制约了环境感知信道模型的发展。为弥补这一不足，我们提出了一种多模态感知与信道探测融合平台，能够实现图像、点云、地理定位信息以及多频段多天线信道数据的时空同步采集。其模块化架构便于在不同动态环境中快速部署。该平台支持Sub-6 GHz和毫米波频段，带宽高达1 GHz，时延分辨率为1 ns，可实现信道切换速率为8 ms的多天线测量。此外，平台实现了厘米级、360°的环境感知精度和米级定位精度。通过车对基础设施测量实验，验证了平台的关键性能指标，包括动态范围、相位稳定性、时延分辨率及多模态数据同步性。所建立的平台支持环境-信道联合建模，为动态6G场景下的信道模型分析与优化提供了支撑。