The streak tube imaging lidar (STIL) system is a new 3D imaging technology that can obtain a complete frame image of the target with only one laser pulse and it has many advantages such as high frame rate, big field of view and so on over the scanning-mechanism system. The principle of the experiment will be introduced firstly and the pre-process of the data will be simply discussed, such as correction of image distortion, the noise filter and image enhancement, data segmentation and so on. All the methods to the above data pre-process are specially adopted for the STIL system. The range of the target, the time of the photoelectron flight and the range of the target image on the phosphor screen have a linear relationship and it will be proved; according this, a mathematical model to reconstruct the 3D image is put forward and the algorithm to calculate the relative range of the target is confirmed. Based on the model and the algorithm, a program in the VC++ and matlab environment to analyze the lidar data, reconstruct and display the 3D image of the target is compiled. The result verifies the model and the algorithm effective.