Fig. 1. Time domain distribution of laser pulse

Fig. 2. Spatial distribution of laser pulse

Fig. 3. Spatial discrete distribution of laser pulse

Fig. 4. Flow diagram of the simulation algorithm

Fig. 5. Statistical characteristic of echo photons under different numbers of PMT pixel

Fig. 6. Mean of multi-pulse TOF under different numbers of PMT pixel (The reference TOF is 100 ns)

Fig. 7. Statistical characteristic of echo photons with different slope angles

Fig. 8. Standard deviation of TOF with different slope angles

Fig. 9. Effect of different numbers of PMT pixel on the average echo photons point cloud under the complicated terrain

Fig. 10. Effect of different number of average echo photons on the echo photons point cloud under the complicated terrain

Fig. 11. Flight path of the airborne flight test

Fig. 12. Effects of different numbers of PMT pixel on the echo photons point cloud under the typical landforms