A 
lidar three-dimensional imaging 
system based on a 
virtual instrument comprises a three-dimensional scene modeling module, a 
lidar testing 
system simulation environment modeling module, a full-waveform 
signal processing module and a three-dimensional reconstruction module. The three-dimensional scene modeling module comprises a three-dimensional model loading element used for setting background colors, 
visual angle control, illumination, a projection mode, a display model and other basic scene projects. The 
lidar testing 
system simulation environment modeling module comprises four modeling sub-modules which are a 
laser pulse model, an atmospheric transmission model, an object 
interaction model and a receiving 
unit model. The 
laser pulse model is used for simulating a 
laser source according to the 
wavelength, pulse width, energy and other characteristics of a laser. The atmospheric transmission model is used for simulating a tested atmospheric environment, so that a 
noise model is generated for acting on the laser. The object 
interaction model is used for simulating effects of the laser and a detected object, and the effects comprise 
mirror reflection, 
diffuse reflection, 
surface reflection and speckles. The receiving 
unit model is used for simulating 
detector noise and 
amplifier noise which are generated after sensing.