A
lidar three-dimensional imaging
system based on a
virtual instrument comprises a three-dimensional scene modeling module, a
lidar testing
system simulation environment modeling module, a full-waveform
signal processing module and a three-dimensional reconstruction module. The three-dimensional scene modeling module comprises a three-dimensional model loading element used for setting background colors,
visual angle control, illumination, a projection mode, a display model and other basic scene projects. The
lidar testing
system simulation environment modeling module comprises four modeling sub-modules which are a
laser pulse model, an atmospheric transmission model, an object
interaction model and a receiving
unit model. The
laser pulse model is used for simulating a
laser source according to the
wavelength, pulse width, energy and other characteristics of a laser. The atmospheric transmission model is used for simulating a tested atmospheric environment, so that a
noise model is generated for acting on the laser. The object
interaction model is used for simulating effects of the laser and a detected object, and the effects comprise
mirror reflection,
diffuse reflection,
surface reflection and speckles. The receiving
unit model is used for simulating
detector noise and
amplifier noise which are generated after sensing.