Lidar is a product of the combination of traditional radar technology and modern laser technology. Laser has advantages such as high brightness, good monochromaticity, and narrow beam, making it an ideal light source for lidar. Therefore, it is currently one of the main research fields for laser applications. Lidar is a rapidly developing high-tech. Starting from the simplest laser ranging technology, lidar technology has gradually developed technologies such as laser tracking, laser speed measurement, laser scanning imaging, and laser Doppler imaging, making lidar a system with multiple functions.