An all fiber optic laser based scanning system for real time terrain mapping under degraded visual conditions is disclosed. A laser output is modulated to achieve a desired pulse width and pulse repetition frequency (PRF) and the modulated signal is amplified. The amplified optical signals are split into N channels that correspond to N elements of an optically phased array that steers light by modulating the phase of light entering and exiting the optical system. By applying a linear phase shift across the beam's wave front, the light propagating along the system's optical axis is steered to an off-axis angle. A real time map of an underlying terrain is accomplished by sweeping the N channel array across the terrain while collecting range information from each scan grid.