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In this article, we present our vision of the application scenarios, performance metrics, and potential key technologies of 6G wireless communication networks. We then comprehensively survey 6G wireless channel measurements, characteristics, and models for all frequency bands and all scenarios, focusing on millimeter-wave (mm-wave), terahertz, and optical wireless communication channels under all spectra; satellite, unmanned aerial vehicle (UAV), maritime, and underwater acoustic communication channels under global coverage scenarios; and high-speed train (HST), vehicle-to-vehicle (V2V), ultra-massive multiple-input, multiple-output (MIMO), orbital angular momentum (OAM), and industry Internet of Things (IoT) communication channels under full application scenarios. We also provide future research challenges of 6G channel measurements, a general standard 6G channel model framework, and …