The ultrasonic guided wave technique is extensively used for nondestructive structural testing, and one of the key steps is to extract a single mode with certain purity from multi-order mixed modes. In this paper, the propagation of ultrasonic guided waves in the cylindrical rod is simulated first; the appropriate broadband excitation signal is selected to excite the multi-order modes in a specific frequency range; and the time–space signal containing multi-order modes is converted to the frequency-wavenumber domain signal by two-dimensional Fourier transform. In the frequency-wavenumber domain, the frequency-wavenumber ridge is extracted from the multi-mode frequency-wavenumber domain based on the dynamic programming method, and then the time-domain signal corresponding to a single mode can be reconstructed. By comparing the excited multi-order mode and the separated single mode with the theoretical results, it is observed that the two results are consistent. Thus, the employed mode-excitation method can accurately excite the multi-order modes in rod structures. Furthermore, the proposed method enables the separation of a single-mode wave with high purity, providing a foundation for future utilization of isolated modes.