In order to solve the certain randomness in the signal received of photon counting. Light detection and ranging a method of Markov techniques based on the Bayesian inference was proposed to extract the peak position, peak amplitude and the noise of the present sampling data, so that the accurate distance was easily got. In Bayesian inference, the posterior distribution can be adopted to describe the prior distribution as approximately, which could effectively improve the exploration of the parameter spaces. During processing, the updated parameter and other parameters constituted a global approximate solution, and the Bayesian inference was used for the optimal solution in the global approximation solutions. Experiments demonstrated show that the parameters can be estimated to a high degree of accuracy and the method is robust.