Full-waveform laser radar system based on coaxial two-channel data acquisition

The invention discloses a full-waveform laser radar system based on coaxial two-channel data acquisition, breaks through the limit that a conventional laser radar can only measure a limited number of distance and strength data, and simultaneously solves the dead zone problem of non-coaxial laser radar detection. The full-waveform laser radar system based on coaxial two-channel data acquisition comprises a pulse laser, a laser transmitting and receiving unit, a data acquisition unit, a control unit and a software unit, wherein the control unit controls the pulse laser to transmit laser pulse; the laser pulse is divided into outgoing beam, acquisition card control signal generation beam and transmitted waveform recording beam after passing by the laser transmitting and receiving unit; the outgoing beam is scattered by a target, then collected into the data acquisition unit by the transmitting and receiving unit and collected as a receiving signal; and the software unit is used for providing a man-machine interaction interface. The system can store a complete waveform for transmitting and receiving the laser pulse, so that the detectivity of the full-waveform laser radar is effectively enhanced.