Abstract: The staring imaging lidar, whose indexes selection influences the load of spacecrafts seriously, is an important method for the pose measurement of non-cooperation target in space. Selecting the indexes of lidar reasonable is significant, opposite to the traditional method by experience, making it not only satisfy the demands of space mission, but also effectively reduce the load of spacecrafts and energy consumption. Macro model for compatibility between indexes of on-orbit lidar and attribute of target was proposed to provide a theoretical basis for indexes selection of lidar. Four indexes included lidar output power, lidar resolution, lidar field angle and lidar ranging precision. The processes were as follows. The initial values of the lidar resolution and field angle can be calculated by the scale of the target and distance between lidar and target. The transmitting power can be acquisited by iterating the maximum measurement distance. The reasonable resolution and field angle can be measured by iterating the second order parameters of the target surface depth co-occurrence matrix. The ranging precision of the lidar can be acquired by iterating the result of the point clouds registration algorithm. The experimental result of lidar indexes selection shows that proposed model can satisfy the requirement for the lidar parameters optimal selection.