To improve the detection level of municipal roads for rapid and effective municipal road collapse warning and rapid search for municipal pipe network distribution, the 22^nd Research Institute of China Electronics Technology Group Corporation designed and developed real-time three-dimensional ground-penetrating radar (3D GPR). With the real-time 3D GPR, which is based on the architecture of field programmable gate array and digital signal processor (FPGA&DSP), the institute achieved the design and implementation of several key technologies for the multi-channel high-speed acquisition system, enriching the road detection techniques and methods. The real-time 3D GPR enables high-speed acquisition of ten-channel radar data using the horizontally polarized antennae equipped with five transmitters and six receivers. The channels can be switched using high-speed switches, which operate in an interactive interpolation manner. The 3D GPR allows for up to 32 channels and detection speeds of above 60 km/h (channel interval: 2 cm). This is attributed to the switching of the antenna array using switches. The optimum antenna polarization design was verified by the comparison of experimental data from cavity- and metal-plate-based experimental sites. As a result, the optimal antenna scheme was determined. The measured results show that, compared to general LTD-2600 radar, the real-time 3D GPR boasts a higher acquisition speed and higher performance in terms of amplitude and phase, conducive to the improvement of road disaster detection technologies. Therefore, there is high market demand for the real-time 3D GPR.