Fig. 1. Features of backscattered signal of 1064 nm Mie scattering lidar (at 19:00, Novenber 15, 2017). (a) Raw signal;(b) differential signal; (c) second order differential signal

Fig. 2. Flow chart of IDEM algorithm

Fig. 3. Calculation of cloud peak function. (a) Range correction signal; (b) second order differential signal; (c) cloud peak function

Fig. 4. Calculation of cloud boundary function. (a) First order differential signal; (b) second order differential signal;(c) cloud boundary function

Fig. 5. Features of single-layer cloud with double peaks. (a) Raw signal; (b) cloud peak function; (c) cloud boundary function

Fig. 6. Detection results of the first kind of cloud (single-layer cloud with single peak) under different SNR. (a) SNR = 40;(b) SNR = 20; (c) SNR = 10; (d) SNR = 5

Fig. 7. Detection results of the second kind of cloud (single-layer cloud with double peaks) under different SNR. (a) SNR = 40; (b) SNR = 20; (c) SNR = 10; (d) SNR = 5

Fig. 8. Detection results of the third kind of cloud (single-layer cloud with double peaks) under different SNR. (a) SNR = 40;(b) SNR = 20; (c) SNR = 10; (d) SNR = 5

Fig. 9. Result comparison of 1064 nm meter scattering lidar (November 15-16, 2017). (a) Range correction signal; (b) result of DEM algorithm; (c) result of IDEM algorithm

Fig. 10. Result comparison of 532 nm meter scattering lidar (October 21, 2021). (a) Range correction signal; (b) result of DEM algorithm; (c) result of IDEM algorithm