Traditionally, Klett and Fernald inversion estimates an initial value using the slope method for horizontal visibility, which causes inversion uncertainty. We proposed an algorithm to retrieve the extinction coefficient and visibility distribution information from scanning Lidar to overcome instability due to initial atmospheric extinction coefficient choice and assuming the Lidar ratio. Numerical simulations showed that extinction coefficient maximum relative was much larger for inhomogeneous atmosphere using the Klett method, reaching 0.31. In contrast, it is only 0.049 using the proposed algorithm. Experimental showed that the proposed algorithm and scanning Lidar system provide very high stability and accuracy, can work in different weather conditions and monitor sea fog evolution over real time, and is suitable for various situations with different visibility.