Fig. 1. Propagation process of laser pulse signal in atmospheric channel^[1]

Fig. 2. Waveform of echo signal with different pulse width

Fig. 3. Empirical Mode Decomposition of the pulse laser echo signal. (a) IMF-1; (b) IMF-2; (c) IMF-3; (d) IMF-4; (e) IMF-5; (f) IMF-6; (g) IMF-7; (h) Residual

Fig. 4. Results of the echo signal denoised by EMD. (a) Emitting laser waveform; (b) Echo signal; (c) Result of the echo signal denoised by EMD algorithm

Fig. 5. Results of the echo signal denoised at SNR=−15 dB by various denoising methods. (a) Emitting signal; (b) Echo signal; (c) Result of the echo signal denoised by SF algorithm; (d) Result of the echo signal denoised by WRD algorithm; (e) Result of the echo signal denoised by EMD algorithm

Fig. 6. Performance evaluation of pulse laser rangefinder based on extinction ratio method in outfield