Lidar uses light, not sound.
But if you are using an ultrasound sensor, not Lidar, the best way to know the frequency is to read the data sheet for the sensor. It will be there, and you should not have to measure. (It will be somewhat above 20,000 Hz.)
OK to directly answer the question. There are phone apps for measuring sound, but ultrasonic might be much higher than the phone can measure. The cheapest way might be to pause the electric signal that is going into the transducer and assume this is the same frequency as the sound the transducer emits. (Could be a wrong assumption, but the transducer’s data sheet will make this clear.) Directly measuring the sound is going to be expensive as most microphones and consumer-level amplifiers don’t work with ultrasound. But you can try…. Aim the sensor at a good microphone and look at the mic’s output on an oscilloscope. Many digit scopes have the ability to measure frequency.
In short, you can look this up, no need to measure.
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