In view of the complex structure and high cost of traditional chaotic lidar systems, this paper proposes two transmission schemes using Field Programmable Gate Array (FPGA) and Arbitrary Waveform Generator (AWG), based on the improved Logistic mapping formula to dynamically generate digital chaotic signals in real time. The digital signal generated on the electrical domain is modulated to a direct-modulated laser to generate a chaotic signal in the optical domain. Then the chaotic optical signal is used as a lidar transmission signal. Therefore, a complete lidar detection system is built on the optical transceiver system. To measure the distance of an object with a reflectivity of 50%, accurate distance measurement at the centimeter level can be achieved without complicated optical structures. We conduct experiments to compare the ranging effects of continuous and binarized chaotic signals. It is found that the ranging accuracy of binarized chaotic signals is at least doubled than that of continuous chaotic signals. For square wave, sine wave and chaotic interference signals at different frequencies, it has stronger anti-interference ability and shows greater application advantages.