A Multi-Modal Fusion Platform for Joint Environment Sensing and Channel Sounding in Highly Dynamic Scenarios

TL;DR

This paper presents a modular, multi-modal platform that fuses environment sensing with cross-band channel sounding to address the need for environment-aware modeling in highly dynamic 6G scenarios. By integrating Sub-6 GHz and mmWave sounders with LiDAR, panoramic imaging, GNSS, and rubidium-synchronized timing, the platform captures temporally and spatially aligned RF and environmental data, enabling joint environment–channel analysis. Key contributions include dual-band sounder architectures, a synchronized data pipeline, LiDAR–image fusion, robust calibration, and a sample V2I measurement validating dynamic range, delay resolution, and AoA estimation. The platform offers a practical infrastructure for ISAC research, enabling accurate, real-time environment-aware channel models and rapid deployment across diverse environments.

Abstract

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.

Figures (16)

• Figure 1: Architecture of multi-modal environment sensing and channel sounding platform.
• Figure 2: Integrated hardware of established platform.
• Figure 3: Design and implementation of mmWave channel sounder.
• Figure 4: (a) Up converter; (b) Down converter and electronic switch.
• Figure 5: System architecture of the environmental perception and reconstruction subsystem.