英语厉害的朋友们,帮我分析一句话,里面包含什么从句,

英语厉害的朋友们,帮我分析一句话,里面包含什么从句,
It has been found that certain bats emit squeaks and by receiving the echoes,they can locate and steer clear of obstacles------or locate flying insects on which they feed.This echo-location in bats is often compared with radar,the principle of which is similar.

1.certain bats emit squeaks and by receiving the echoes,they can locate and steer clear of obstacles --- or locate flying insects on which they feed
主语从句：当然句首的it是形式主语,该主语从句（后面有括号的部分）是真正的主语.
翻译：（人们）已经发现（某些蝙蝠发出吱吱的短促叫声,而且通过接受回波,它们能够对障碍物进行定位和避离 -- 或者是对它们进食的飞行昆虫进行定位)
2.on which they feed
限制性定语从句：修饰先行词insects.
即：它们（指蝙蝠）用以进食的正在飞行的昆虫
3.the principle of which is similar
非限制性定语从句：which代指并修饰先行词radar.
即：雷达的原理（和蝙蝠的回波定位原理）是相似的

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