Results of lidar modeling based on spatial-angular filtering efficiency criteria are presented. Their analysis shows that the low spatial-angular filtering efficiency of traditional visible and near-infrared systems is an important cause of low signal background-radiation ratio SBR at the photodetector input. The low SBR may be responsible for considerable measurement errors and ensuing the low accuracy of the retrieval of atmospheric optical parameters. As shown, the most effective protection against sky background radiation for groundbased biaxial lidars is the modifying of their angular field according to a spatial-angular filtering efficiency criterion. Some effective approaches to achieve a high filtering efficiency for the receiving system optimization are discussed.