In order to quickly obtain the three-dimensional structural information of targets, a staring imaging laser radar system is developed. The system consists of three parts. The first part is that of light emission. The pulsed laser diode stack with center wavelength of 808 nm was used. The second part is the receiver which is made up of objective lens,image intensifier and CCD camera. The third part is that of image capture and processing. Two images with constant gain modulation and linear gain modulation were obtained in two measurements, and the distance information was demodulated. The error based on noise model was analyzed and estimated for given parameters. Some experiments were made and the results were consistent with theoretical analysis.