Eye-safe laser radar systems based on gated viewing use narrow infrared laser pulses to illuminate a whole scene for direct (incoherent) detection. Due to the time of flight principle and a very fast shutter with precisely controlled delay time, only light reflected in a certain range slice is detected. Due to the lack of off-shelf components, the development of such systems is difficult. Also, comparison of different systems is complicated, since atmospheric transmission, target reflectivity, polarization, and different noise effects have great influence on the system performance. The laser radar equation is used to estimate range performance in a a general manner. In this paper we discuss improvements in the system modelling of our laser radar system. Pixel wise simulation in combination with three dimensional scenes, generated with Virtual Reality Markup Language (VRML) is used to generate realistic range images. Changing to a pixel oriented approach and three dimensional modelled scenes, we are now able to study the system response for targets with arbitrary form and even different reflectivity. Also, we take into account the gaussian nature of the illuminating laser spot and different noise sources. Hence it is possible to simulate gray value images and calculate range images.