Abstract: 3-D space position of ground feature points can be quickly obtained by full-waveform airborne laser radars. Compared to other surveying and mapping methods, a full-waveform airborne laser radar has better performance to a certain extent. Firstly, the laser ranging principle of a full-waveform airborne laser radar is introduced. Then the general method of data processing for full-waveform airborne lidar is discussed. The main progress and the research status of data processing technology at home and abroad are summarized. Finally, the key problems in the research of full-waveform lidar data processing are summarized. On this basis, the research prospect of data processing is prospected.