The structural diagram of the multi-frequency correlation log-echo sounder and its operation fundamentals are considered for providing the safe landing and water area navigation of an amphibious unmanned aerial vehicle by means of processing both the amplitude and phase characteristics of the ultrasonic echoes with multiple f, 2f, 3f, … nf frequencies.

中文翻译：

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Seadrome：用于起降和水域导航的无人两栖飞行器声纳设备

考虑了多频相关对数回波测深仪的结构图及其操作原理，以通过处理具有多个倍频的超声回波的幅度和相位特性来提供水陆两栖无人机的安全着陆和水域导航f，2 f，3 f，… nf个频率。