For the ice detection of aerospace composite materials, a solution based on ultrasonic guided waves technology is proposed in this paper. The layered structure waveguide model is established by using the transfer matrix method, the dispersion curves of the phase velocity and group velocity are drawn, and the propagation characteristics of ultrasonic guided waves in the carbon fiber reinforced polymer (CFRP) plate are analyzed.On this basis, the hardware circuit composed of signal source and receiver is designed based on the field programmable gate array.The ice detection system and its experimental environment are set up in combination with the thermotank. By measuring the relative time delay of the echo signal wave packet, the feasibility of the ultrasonic guided waves ice detection scheme is verified, which provides a new idea for the field of aircraft ice detection.