These codes contain Doppler radar, WPR bathymetry, Sonar bathymetry, and Radar altimetry processing procedures based on the raw data (Level 1). Combining the codes and the specialized software (e.g., Emlid studio), we could generate Level 2/3 data. More details about the different codes and necessary inputted files are included in the code readme file and the readme files belonging to the individual drone-borne with sensors.