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Submillimeter wave radiometers are promising remote sensing tools for sounding ice cloud parameters. The Ice Cloud Imager (ICI) aboard the second generation of the EUMETSAT Polar System (EPS−SG) is the first operational submillimeter wave radiometer used for ice cloud remote sensing. Ice clouds simultaneously contain three species of ice hydrometeors—ice, snow, and graupel—the physical distributions and submillimeter wave radiation characteristics of which differ. Therefore, jointly retrieving the mass parameters of the three ice hydrometeors from submillimeter brightness temperatures is very challenging. In this paper, we propose a multiple species of ice hydrometeor parameters retrieval algorithm based on convolutional neural networks (CNNs) that can jointly retrieve the total content and vertical profiles of ice, snow, and graupel particles from submillimeter brightness temperatures. The training dataset is generated by a numerical weather prediction (NWP) model and a submillimeter wave radiative transfer (RT) model. In this study, an end to end ICI simulation experiment involving forward modeling of the brightness temperature and retrieval of ice cloud parameters was conducted to verify the effectiveness of the proposed CNN retrieval algorithm. Compared with the classical Unet, the average relative errors of the improved RCNN–ResUnet are reduced by 11%, 25%, and 18% in GWP, IWP, and SWP retrieval, respectively. Compared with Bayesian Monte Carlo integration algorithm, the average relative error of the total content retrieved by RCNN–ResUnet is reduced by 71%. Compared with BP neural network algorithm, the average relative error of the vertical profiles retrieved by RCNN–ResUnet is reduced by 69%. In addition, this algorithm was applied to actual Advanced Technology Microwave Sounder (ATMS) 183 GHz observed brightness temperatures to retrieve graupel particle parameters with a relative error in the total content of less than 25% and a relative error in the profile of less than 35%. The results show that the proposed CNN algorithm can be applied to future space borne submillimeter wave radiometers to jointly retrieve mass parameters of ice, snow, and graupel. [ABSTRACT FROM AUTHOR]