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In this paper a tool for synthetic generation of scanning laser radar data is described and its performance is evaluated. By analyzing data from the system, we recognize objects on the ground. In the measurement system it is possible to add several design parameters, which make it possible to test an estimation scheme under different types of system design. The measurement system model includes laser characteristics, object geometry, reflection, speckles, atmospheric attenuation, turbulence and a direct detection receiver. A parametric method that estimates an object's size and orientation is described. There are measurement errors present and thus, the parameter estimation is based on a measurement error model. The parameter estimation accuracy is limited by the Cramer-Rao lower bound. Validations of both the measurement error model and the measurement system are shown. Data from both models generate parameter estimates that are close to the Cramer-Rao lower bound.