170 results about "Flight duration" patented technology

The invention provides a gas ultrasonic transducer fast matching method, device and equipment and a storage medium, original measurement data such as flight time are obtained by deploying an ultrasonic transducer in a gas ultrasonic flowmeter in a gas conveying pipeline, and multi-dimensional data acquisition is carried out in combination with other sensor parameters. Wavelet noise reduction and dynamic time warping processing are carried out on collected signals, signal quality and time sequence consistency are improved, time domain, frequency domain, environment and statistical features are extracted, and multi-dimensional feature vectors are formed. Modeling is carried out through a time sequence feature branch and an environment feature branch, weighted fusion is carried out by adopting an attention mechanism, and the recognition capability of the model on key features is enhanced. A machine learning model is trained based on fusion features, a multi-objective loss function and a data enhancement strategy are adopted, the prediction precision and generalization ability of the model are improved, and a compensation value is output to calibrate the original traffic in real time. According to the method, the accuracy and stability of gas flow measurement in a complex environment are effectively improved, and the method has a good engineering application prospect.

The invention discloses an unmanned aerial vehicle hybrid power system configuration optimization method based on a self-adaptive genetic algorithm, and the method comprises the following steps: S1, determining an unmanned aerial vehicle flight platform and collecting task parameters of an unmanned aerial vehicle, the task parameters of the unmanned aerial vehicle comprising flight duration, load capacity W and task environment parameters, recording power consumption of the unmanned aerial vehicle in different flight stages; s2, establishing an unmanned aerial vehicle energy consumption mathematical model, and calculating the total energy consumption of the unmanned aerial vehicle in each flight stage; s3, constructing an optimization objective function of the hybrid power supply of the unmanned aerial vehicle; and S4, performing optimization according to the target function, and outputting an optimal hydrogen fuel cell proportion to enable the target function to be minimum. By optimizing the power distribution proportion of the hydrogen fuel cell and the lithium battery and combining the efficient global optimization capability of the adaptive genetic algorithm, the power supply configuration is dynamically adjusted, and the cruising ability and the energy utilization efficiency of the unmanned aerial vehicle are remarkably improved.

The invention discloses a self-adaptive ultrasonic measurement method and system based on multi-channel cooperation, and relates to the technical field of ultrasonic measurement. The method comprises the following steps: collecting original flight time signals of each channel; meanwhile, environment data are collected in real time; original flight time signals are processed, effective signal arrival pre-flight time is extracted, and a fusion data set is constructed; constructing a two-dimensional sound channel spectrogram based on the multi-sound channel time sequence of the pre-flight time, and performing feature extraction based on a lightweight convolutional neural network to generate an abnormal confidence vector; analyzing the sound channel state based on the abnormal confidence vector; constructing a physical information neural network, and analyzing the corrected sound velocity value of each sound channel and the two-dimensional sound velocity field distribution on the section of the whole pipeline; training an online sequence extreme learning machine model in combination with historical measurement data; and based on the final fusion weight of each sound channel and the corresponding sound channel flow velocity, carrying out weighted fusion to generate a flow velocity optimal estimation value. And the measurement precision and robustness are improved.

The invention discloses an intelligent flight route planning method and system for a low-altitude logistics aircraft, and the method comprises the steps: obtaining the three-dimensional space map data of the current position of the aircraft, including the coordinate information of a building and a telegraph pole, and the boundary range of a no-fly zone; acquiring wind speed, wind direction and rainfall data of the current area from a meteorological data source, and calculating meteorological impact factors by combining aircraft performance parameters; dynamically adjusting the candidate flight routes according to the maneuvering characteristic parameters of the aircraft, and calculating the flight time, the energy consumption cost and the safety risk score of each route; meteorological changes in the flight process are monitored in real time, and if the meteorological conditions exceed a preset threshold value, the meteorological data are obtained again, and the meteorological influence factors are updated; and carrying out local optimization adjustment on the current flight route according to the updated meteorological influence factor, generating a new flight route segment and replacing the original segment.

The invention provides a flight time determination method of an ultrasonic flowmeter and related equipment, and relates to the field of ultrasonic measurement. The method comprises the following steps: acquiring uplink and downlink echo signals of the ultrasonic flowmeter, and determining uplink and downlink envelope arrays corresponding to the uplink and downlink echo signals; determining uplink and downlink characteristic waves and respective zero crossing point time of the uplink and downlink characteristic waves based on the uplink and downlink envelope arrays; according to a preset interval length and the respective zero crossing point time of the uplink characteristic wave and the downlink characteristic wave, a first envelope interval array and a second envelope interval array as well as a front offset envelope interval array and a rear offset envelope interval array are intercepted from the uplink envelope array and the downlink envelope array respectively; envelope difference arrays between the first envelope interval array and the second envelope interval array, between the first envelope interval array and the front offset envelope interval array and between the first envelope interval array and the rear offset envelope interval array are calculated, and the flight time of the ultrasonic flowmeter is determined according to the envelope difference arrays.

The invention discloses an elastomer layer carbon fiber composite material damage positioning method based on elliptic probability fusion, which comprises the following steps: taking different sensors as excitation sources, and collecting Lamb wave signals of a plurality of sensing paths; performing continuous wavelet transform by using a complex Morlet wavelet, and extracting actually measured flight time; introducing a layered wave velocity correction model to optimize an elliptical orbit method, and calculating theoretical flight time and damage probability; introducing a dynamic short-axis optimization model to optimize a probability weighting method, and calculating a damage probability; generating prior distribution by using results calculated by an elliptical orbit method and a probability weighting method; constructing a likelihood function based on the difference between the actually measured flight time and the theoretical flight time; the posterior distribution of the damage position is obtained through the Bayesian theorem in combination with the prior distribution and the likelihood function; sampling the posterior distribution by using an adaptive MCMC algorithm, and generating a probability cloud picture of the damage position; and outputting a final imaging result of the damage position, and positioning the damage position.

The invention discloses a flight arrival time prediction method based on a flight path, belongs to the technical field of civil aviation data analysis, and aims to improve the accuracy of flight scheduling and air traffic management. Comprising the following steps: S100, preprocessing an aviation flight path data set; s200, data set feature extraction and model input: converting field features into binary representation, and generating differential features; s300, generating a data set label: calculating a prediction label through the difference between the ALDT and the TIME of the last track point; s400, model construction: a BERT encoder and a simplified decoder predict the remaining flight time of the flight; s500, model training and optimization: constructing two independent models of south wind and north wind; based on flight trajectory data, high-precision arrival time prediction is realized under the condition that external data such as weather is not introduced, and the method has wide applicability and efficient calculation performance. The model is suitable for real-time deployment of an airport management system, and provides accurate data support for flight scheduling and air traffic management.

An illustrative sensor controller includes: a transmitter, a receiver, a time-of-flight circuit, and a phase shift circuit. The transmitter is configured to provide a drive signal to an ultrasonic sending transducer to generate an acoustic burst. The receiver is configured to receive a response signal from an ultrasonic receiving transducer. The time-of-flight circuit is configured to detect an arrival of the acoustic burst in the response signal and to measure a first time of flight associated with that arrival. The phase shift circuit is configured to measure a phase shift of the acoustic burst in the response signal and to determine a second time of flight corresponding to the phase shift.

The invention discloses a collaborative planning method for multi-unmanned aerial vehicle dynamic target positioning, and belongs to the field of unmanned aerial vehicle trajectory planning and visual perception, and the method comprises the steps: obtaining the position information of each unmanned aerial vehicle and a dynamic target in real time; modeling a multi-unmanned aerial vehicle system into a pseudo-rigid body structure, taking the geometric center of the structure as a path search node, and performing multi-unmanned aerial vehicle cooperative path search on the basis of the position information under the condition of meeting obstacle avoidance constraint and topological consistency constraint to obtain an initial trajectory of each unmanned aerial vehicle; multi-unmanned aerial vehicle combined continuous time-space trajectory optimization is carried out on the initial trajectory, the optimization target is to minimize control cost and flight time cost, and dynamic feasibility constraint, environment obstacle avoidance constraint, cluster mutual avoidance constraint and public view field constraint are met. By introducing the topological consistency constraint and the public view field constraint, mutual visibility among multiple machines is effectively maintained in a complex obstacle environment, it is guaranteed that a public view field area is not shielded, and the robustness of a dynamic target observation system is improved.

The invention discloses an ultrasonic guided wave damage ellipse imaging positioning method and equipment for a layer decreasing composite material laminated plate. The method comprises the following steps: S1, acquiring thickness change direction information of the laminated plate and position coordinates of an excitation transducer and a receiving transducer; s2, according to the material characteristic parameters, simulating and calculating the propagation time of ultrasonic guided waves transmitted from an excitation transducer to any point to generate a first theoretical propagation time map, and simulating and calculating the propagation time of the ultrasonic guided waves transmitted from any point to a receiving transducer to generate a second theoretical propagation time map to generate a second theoretical propagation time map; coupling influence of thickness change and material anisotropy on guided wave propagation is considered in the simulation process; s3, transmitting an ultrasonic guided wave signal, and extracting the actual flight time of a damaged wave packet; s4, calculating theoretical total propagation time, and determining a candidate area where damage exists; and S5, on the basis of repeated operation of the multiple groups of transducer pairs, taking a plurality of candidate region intersections to determine a final damage position. The objective of the invention is to solve the positioning error problem caused by the structural characteristics of a laminated plate in a traditional algorithm, and to realize more accurate damage detection and positioning.

A vertical takeoff and landing (VTOL) aircraft includes a maximum takeoff weight (MTOW) of about 1700-kg, a cruising speed of about 80-knots equivalent airspeed (EAS) to about 100-knots EAS, a nominal range of about 300-km, a nominal flight time of about 4-hours, and at least one pair of rotors configured to provide vertical thrust. Each rotor of the at least one pair includes an about 2-meter propeller diameter, a disk loading of about 67-kg / m2 to about 110-kg / m2, and an operating speed of about 1800 rotations-per-minute (RPM) to about 2700-RPM.

The invention discloses a hopping wave detection and compensation method and system of an ultrasonic flow metering device, and belongs to the technical field of ultrasonic measurement. The method comprises the following steps: under a plurality of set water temperature conditions, acquiring forward and reverse flight time of ultrasonic waves under static water flow; obtaining the water temperature of the water flow to be measured and the forward and reverse flight time of the ultrasonic wave under the water flow to be measured; the forward and reverse flight time of the ultrasonic waves under the static water flow under the water temperature condition of the to-be-measured water flow is obtained; based on the time difference of the forward and reverse flight time of the ultrasonic waves under the water flow to be measured and the static water flow under the water temperature condition of the water flow to be measured and a set time difference threshold value, whether hopping waves exist or not is judged, and the hopping wave direction is judged; on the basis of the time difference and the ultrasonic period, compensating forward and reverse flight time with hopping waves; and calculating the water flow velocity based on the compensated forward and reverse flight time. According to the invention, the accuracy of ultrasonic flow measurement and the measurement efficiency can be effectively considered.

The utility model provides a mass spectrometer which comprises a rack, and the rack is provided with a plurality of containing spaces arranged in the height direction of the rack and a vacuum cavity arranged side by side with the containing space on the bottommost layer. The flight time mass analyzer is fixed outside the rack; the vacuumizing module is at least positioned in the accommodating space at the bottommost layer and is used for vacuumizing the vacuum cavity; the shell wraps the rack and the flight time mass analyzer, and a display screen is integrated on the shell; a module assembly is further included, the module assembly at least comprises an industrial mainboard, and the industrial mainboard is located in one containing space; the industrial mainboard is used for converting signals collected by the time-of-flight mass analyzer into atlases and displaying the atlases on the display screen. The industrial mainboard for processing the signals acquired by the time-of-flight mass analyzer and the display screen are integrated on the mass spectrometer, so that a work station does not need to be additionally established to process and detect data, the integration level of the mass spectrometer is improved, and the occupied space of the mass spectrometer is reduced.

A method of in situ measurement of an acoustoelastic constant (L) of a railway rail, using an ultrasonic wedge sensor to measure a stress-free (unloaded) time-of-flight (t0) in the vertical direction of the rail. Next, a vertical load of known load value is applied to the rail. While the vertical load is applied, the ultrasonic wedge sensor is used to measure a stressed time-of-flight value. The difference between the stress-free and the stressed time-of-flight is calculated to obtain a time-of-flight difference value (Δt). Based on the load value, the stress-free time-of-flight value, and the time-of-flight difference value, the acoustoelastic constant, L, may be calculated. The wedge sensor may be further used to measure the (stressed) horizontal time of flight, and a time-of-flight difference value in the horizontal direction may be used to measure longitudinal stress.

Embodiments of the present invention provide a method for measuring the time-of-flight of a low-signal-to-noise ratio ultrasonic echo signal, relating to the field of measurement technology. The method comprises the steps of acquiring an echo signal; performing noise reduction and reconstruction on the acquired echo signal using an empirical wavelet transform to obtain a reconstructed echo signal; obtaining a preset reference echo peak value and a reconstructed echo peak value, and calculating the echo characteristic peak of the echo signal using a preset characteristic peak location algorithm; obtaining echo characteristic points of the echo; and measuring the echo time-of-flight based on the obtained echo characteristic points according to a preset measurement algorithm. This method can achieve higher-precision time-of-flight measurements of ultrasonic echo signals using a simpler calculation method.

The invention provides an earth-moon transfer orbit iterative calculation method based on earth-moon relative motion, which comprises the following steps: firstly, calculating an ideal earth-moon transfer orbit number according to the deviation between the current flight time and the theoretical time, and taking the ideal earth-moon transfer orbit number as an iterative guidance target orbit; and then, by utilizing the characteristic that the shutdown time of the rocket in the flight section can be predicted in the iterative guidance calculation process, the influence of the flight time deviation on the earth-moon transfer orbit is compensated to the number of target orbits in real time, so that correction of a guidance program angle instruction is realized, and the rocket is controlled to fly towards a more ideal earth-moon transfer orbit all the time.

This invention discloses an AI-based automatic positioning and navigation system for unmanned aerial vehicles (UAVs), comprising: a UAV body that obtains the starting coordinates through a navigation module by manually inputting the destination coordinates and the planned flight duration t, and then flies from the starting coordinates to the destination coordinates at a flight speed V1 and a flight altitude H1, automatically completing the flight mission and automatically determining the return-to-home status; and a monitoring unit that acquires the initial battery level Q of the UAV body, transmits the initial battery level to the coordinate unit, and monitors the output power of the battery in real time during flight. When abnormal output power occurs during flight, a feedback signal is generated and transmitted to the correction unit. This invention relates to the field of UAV technology and solves the problem that existing UAV automatic positioning and navigation systems do not consider the UAV's battery life, which can easily lead to the UAV being unable to return to home or even crashing during flight.

The present invention provides a ranging method and device based on an ultra-wideband chip, including: initiating a ranging request; the ranging initiator sending a first ranging frame and obtaining a first ranging mark R1; the ranging responder receiving the first ranging frame and obtaining a second ranging mark R2; the ranging responder sending a second ranging frame and obtaining a third ranging mark R3; the ranging initiator receiving the second ranging frame and obtaining a fourth ranging mark R4; the ranging initiator delaying the sending of a third ranging frame at a set delay time and obtaining a fifth ranging mark R5; the ranging responder receiving the third ranging frame and obtaining a sixth ranging mark R6; the ranging responder calculating the flight time of the ranging frame between the ranging initiator and the ranging responder according to the ranging time data of the ranging initiator in the third ranging frame and the ranging mark time data obtained by itself, and further calculating the distance between the ranging initiator and the ranging responder. The ranging efficiency is improved by adopting the present invention.

The present invention relates to a large-scale flight regulation method based on multi-objective collaborative optimization, belonging to the technical field of civil aviation management, and solves the problems of inappropriate existing grouping strategies and the failure to consider multi-objective collaborative optimization. It includes generating a delay time vector and a first delay time for each flight; updating the departure time and arrival time of the flight to obtain flight conflict information; grouping all flights according to the flight time overlap degree to obtain multiple flight groups; generating a sub-population from the delay time vectors of each flight in each flight group, successively crossing each sub-population to generate offspring, obtaining the delay variables of each flight and performing mutation, and after multiple evolutions, taking the solution with the maximum fitness in each optimized sub-population as the second delay time of the corresponding flight, updating the first delay time of each flight to the second delay time, and using the first delay time obtained after multiple cycles to regulate the departure time of the corresponding flight. The dual optimization of flight conflicts and delays is achieved.

The embodiments of the present application relate to the technical field of optical equipment, and disclose a method for detecting flight time, an ultrasonic flowmeter, and an optical device. The above method includes: sending a first electrical signal at a transmitting end, the first electrical signal includes at least two continuous characteristic electrical signal sequences, the characteristic electrical signal sequence has a first pulse signal and a constant level signal, and the characteristic electrical signal sequence has a characteristic period; receiving a second electrical signal at a receiving end; based on the time domain waveform of the second electrical signal, obtaining a characteristic time point, the characteristic time point is a time point corresponding to the intersection of adjacent waveform areas with a characteristic period in the time domain waveform; based on the characteristic time point, obtaining the first wave position; based on the first wave position, obtaining the flight time. The method for detecting flight time provided in the embodiments of the present application solves the problem of errors in the detection of flight time caused by deviations in the first wave position.

Provided are a LIDAR apparatus based on a time of flight and a moving object which output an electrical signal by transmitting and receiving light, generate a control signal by analyzing the electrical signal, measure a pin point distance by calculating a time of flight of the light based on the control signal, and process point cloud data generated based on a measured distance to accurately construct information on a surrounding environment.

The invention relates to an unmanned aerial vehicle appearance inspection method and system based on a large model and intelligent glasses, and relates to the field of unmanned aerial vehicle detection, and the method comprises the steps: obtaining the model and the historical abnormal position of an unmanned aerial vehicle and the task information of a to-be-executed task, and determining the inspection process of the unmanned aerial vehicle according to the model and the historical abnormal position, the task information comprises a flight distance, a flight duration and a wind speed, controlling the intelligent glasses to output an inspection process, so that a person acts according to the inspection process and collects a plurality of appearance images of the unmanned aerial vehicle, and inputting the plurality of appearance images into a plurality of trained anomaly detection models for anomaly detection. And obtaining a detection result of each anomaly detection model, and judging whether the unmanned aerial vehicle is allowed to release or not according to the multiple detection results and the task information. The appearance state of the unmanned aerial vehicle can be quickly determined when the unmanned aerial vehicle needs to execute the emergency task, and whether release is allowed or not is accurately judged.

Provided in the present application are a flight duration measurement method and a related device thereof, which are applied to a field programmable gate array, the field programmable gate array being provided with at least one carry chain. The measurement method comprises: for each of a plurality of event signals, acquiring a first transmission duration of the event signal on a carry chain within a time period between an edge instant of the event signal and an edge instant of an adjacent clock signal, the first transmission duration representing an edge delay of the event signal, and the plurality of event signals comprising a transmission signal and a reception signal; acquiring a second transmission duration of each clock signal transmitted in the carry chain, the second transmission duration representing a jitter duration of the clock signal; and compensating the edge delays and the jitter durations of the plurality of event signals to an initial flight duration, so as to obtain a first flight duration, wherein the initial flight duration is obtained on the basis of edge instants of the transmission signal and the reception signal.

The invention relates to the technical field of unmanned aerial vehicle flight plan dynamic management scheme design, in particular to a multi-type unmanned aerial vehicle town multi-scene flight plan dynamic management method and system. The method comprises the following steps: receiving and analyzing a multi-scene task request to obtain an emergency degree, a load demand, a flight duration and an execution area attribute of the multi-scene task request; on the basis of task attributes, the tasks are divided into execution waves of different priorities according to the emergency degree priority and region cooperation principle; acquiring the load state, the remaining flight duration and the position information of the unmanned aerial vehicle in real time; for each wave, dynamically matching the unmanned aerial vehicles which are compatible in load, sufficient in endurance and adjacent in position; executing tasks according to a wave priority sequence, and monitoring the state of the unmanned aerial vehicle in real time; and when triggering conditions such as insufficient endurance or a new high-emergency task occur, the execution plan is dynamically adjusted. According to the invention, through wave management and dynamic closed-loop control, efficient and reliable adaptation of multi-type unmanned aerial vehicle resources and complex task requirements of cities and towns is realized.

The invention discloses an unmanned aerial vehicle path planning system based on dynamic environment updating, which relates to the technical field of unmanned aerial vehicle planning and comprises a path planning module, a real-time environment acquisition subsystem, a path updating subsystem and an unmanned aerial vehicle control module. A user sets initial relevant parameters of a flight route of the unmanned aerial vehicle through the path planning module, and meanwhile, environment data in the flight process are collected and captured in real time through the implementation environment collection subsystem, and the environment data are processed and analyzed; and the path updating subsystem re-plans and re-designs a flight path of the unmanned aerial vehicle according to the processed environment data content, and transmits the flight path to a control module of the unmanned aerial vehicle through a wireless signal to carry out corresponding flight control operation on the unmanned aerial vehicle. According to the unmanned aerial vehicle path planning system, the flight path of the unmanned aerial vehicle is synchronously adjusted according to the environment change condition updated in real time, more efficient unmanned aerial vehicle flight operation is achieved, and the flight duration of the unmanned aerial vehicle is shortened.

The time-of-flight mass spectrometer provided by the embodiment of the application comprises a flight tube, a detector and an ion focusing assembly, the detector and the ion focusing assembly are arranged in the flight tube, the ion focusing assembly is arranged at the front end of the detector, the flight tube is used for flight control of ions, the ion focusing assembly is used for focusing of the ions after flight, and the detector is used for detection of the focused ions. Through focusing of the ions after flight, the number of ions detected by the detector can be improved, and the sensitivity of the time-of-flight mass spectrometer is higher.

The embodiment of the invention provides a bolt residual axial force determination method and device, electronic equipment, a medium and a product, and the method comprises the steps that a to-be-tested bolt in a first installation state is tested, the flight time difference variable quantity caused by axial force attenuation is obtained, and the first installation state represents that the bolt is in a yield section; determining an axial force attenuation based on an axial force attenuation parameter of the to-be-tested bolt in a second installation state and a flight time difference variation, the second installation state representing that the bolt is in an elastic section; and determining the residual axial force of the to-be-tested bolt according to the axial force attenuation. According to the method provided by the embodiment of the invention, the residual axial force can be calculated more accurately based on the axial force attenuation parameter of the bolt. And according to the scheme provided by the invention, bolts do not need to be disassembled in the test process, so that the continuity and completeness of the test are ensured.

The invention relates to an ultrasonic wave flight time measuring method and device, electronic equipment and a readable medium, and the method comprises the steps: applying a driving signal to a first transducer, enabling the first transducer to emit ultrasonic waves, and starting a timer to collect a transmitted waveform sequence; calculating the minimum flight time as a coarse value based on the distance between the transducers and the resultant velocity of the sound velocity and the wind speed; after the time is over, collecting a receiving waveform sequence of which the count value and the amplitude are within a preset range; transmitting and receiving waveforms are analyzed through waveform matching, a time offset value is obtained, and a coarse value is corrected to obtain first absolute flight time; switching a transmitting-receiving transducer, and similarly obtaining second absolute flight time; and matching the two received waveforms, calculating the offset time for correcting the difference between the two minimum flight times, and finally obtaining the high-precision relative flight time. The problem that the measurement precision and the operation efficiency cannot be considered when the ultrasonic flight time is measured is solved.

The invention relates to a flight time difference calculation method of an ultrasonic flowmeter and related equipment, and the method comprises the steps: respectively dividing an uplink echo signal and a downlink echo signal to obtain a plurality of continuous local waves, extracting a characteristic value representing the amplitude range of the local wave from each local wave, and calculating the flight time difference of the ultrasonic flowmeter according to the characteristic value; sorting the feature values according to the sampling time of the local waves to obtain an uplink feature value sequence and a downlink feature value sequence; in a preset integer local wave shift number interval, for each preset shift number, performing translation alignment on the downlink characteristic value sequence relative to the uplink characteristic value sequence according to the preset shift number to obtain a downlink characteristic value sub-sequence; and calculating a matching difference degree between each downlink eigenvalue sub-sequence and the uplink eigenvalue sequence, determining a target local wave shift number according to the matching difference degree, and determining a flight time difference according to the target local wave shift number. According to the method, the calculation accuracy of the flight time difference is remarkably improved, and the measurement accuracy of the fluid flow is ensured.

The application discloses a speed-restricted separation method of a solid rocket engine-boosted vehicle, which comprises the following steps: S1, determining a first maximum speed threshold Vmax1, a second maximum speed threshold Vmax2 and a latest separation time Tmax; S2, comparing a full-missile flight speed Vt0 at the end of engine operation with the first maximum speed threshold Vmax1, and separating the vehicle in time at the end of engine operation when Vt0Vmax1, entering step S3; S3, delaying the separation of the vehicle after the end of engine operation; the specific method of delaying the separation is as follows: if the full-missile flight time is less than Tmax, comparing a full-missile flight speed Vt at the current time with Vmax2, separating the vehicle when VtVmax2, and continuing the full-missile flight when Vt≥Vmax2; if the full-missile flight time is greater than or equal to Tmax, separating the vehicle. The application can judge the separation time according to the real-time flight speed, provide a suitable speed after the separation of the main stage, and ensure the flight control requirements and speed requirements of the main stage after the separation.