Abstract: In polar environments, underwater vehicles are subjected to complex impact and hydrodynamic loads from fluid and ice interactions, posing serious threats to their structural safety. This paper focuses on understanding the characteristics of fluid flow and impact loads during water-exit and ice-breaking processes. A measurement system based on constrained modeling test system is developed to capture images and loads. A fragile freezing model ice preparation technology is utilized to create a comprehensive test system for ice-breaking. Repeatable verification tests are conducted using frozen model ice in water-exit experiments under varying ice sizes and coverages. Pressure and axial forces on the vehicle during water-exit and ice-breaking are recorded, along with images of fluid flow and ice response post-impact. Results indicate that brash ice exhibits distinct load patterns compared to ice-free conditions. Impact loads from brash ice are size-dependent, with large-scale brash ice being broken upon vehicle impact. The vehicle also causes large-scale splash phenomena when crossing the free surface, with impact location influenced by brash ice coverages. Three forms of interaction between the vehicle and brash ice are identified. Findings from this study shed light on fluid and impact phenomena during water-exit under brash ice cover, offering insights for vehicle operations in ice-covered environments and structural design.