Abstract: Based on the basic principle of pulse laser radar ranging, a pulse laser radar model is built to model and simulate the emission current waveform, laser emission power, received signal power, and received light voltage waveform. The factors that cause measurement errors are analyzed, and the full waveform analysis algorithm is studied to accurately obtain the laser pulse reception time under different conditions. For single-mode echoes with high signal-to-noise ratio, the adaptive threshold method can be used and for low signal-to-noise ratios, the waveform centroid method can be adopted. This simulation and modeling can be applied to the laser radar experimental teaching and design, as well as the related scientific research.