Text this: Robust Resolution of Velocity Ambiguity for Multi-Frequency Pulse-to-Pulse Coherent Doppler Sonars

 ______    __   __   ______    _    _     ____    
|      \\  \ \\/ // |      \\ | || | ||  |  _ \\  
|  --  //   \ ` //  |  --  // | || | ||  | |_| || 
|  --  \\    | ||   |  --  \\ | \\_/ ||  | .  //  
|______//    |_||   |______//  \____//   |_|\_\\  
`------`     `-`'   `------`    `---`    `-` --`