建立了激光成像雷达探测目标的数学模型，分析了目标成像点轨迹形成的整个过程，讨论了距离像上的目标回波强度与目标距离之间的关系，得出了单次脉冲成像回波峰值点在像面上的坐标分布函数。设计实验并提出了一种动目标三维轨迹检测的方法，利用自适应阈值法对激光雷达实验图像进行了处理，得到了目标成像点轨迹分布；对比了距离像的理论和实验数据，结果表明理论模型检测的目标轨迹结果与实验结果误差控制在2%以内，具有较高的吻合度，所得结论可为目标轨迹预测以及意图判断提供参考意义。

Based on the model of laser imaging radar detecting target, the trajectory forming process of target imaging points is analyzed, and the distribution function of echo peak points on the image surface under single pulse imaging. While the experiment is designed, a method of detecting target three-dimensional trajectory is put forward. The experimental image obtained by laser radar is processed through the adaptive thresholding algorithm, and the trajectory of target imaging points is got. Then the comparison between theoretical and experimental data is made, and the result shows that the relative error between trajectories detected by theoretical model and experiment is controlled in 2%, which has a better coincidence. The result can provide reference for the trajectory prediction and intention judge of aerial target.