Abstract: Ion cyclotron resonance heating (ICRH) is pivotal in magnetoplasma propulsion thruster, involving complex interactions between radio frequency (RF) waves and plasma. To tackle these complexities, we used an advanced electromagnetic particle-in-cell method coupled with a Monte Carlo collision (MCC) model to explore particle dynamics within large-scale domains (approximately 1 m) and intense magnetic confinement (approximately 1.8 T). The effects of working fluid properties, mesh resolution, input RF current intensity, and RF on ICRH were studied. Notably, for hydrogen ions, fluctuating velocities were observed, leading to a pinch effect on cyclotron kinetic energy, which was likely because of the influence of MCC and particles nearing the resonance line. Argon ions, being heavier, exhibited significantly larger cyclotron radii, resulting in higher energy absorption as they traversed intense magnetic fields. The findings indicate that the input current dominantly affected the heating efficiency. Adequate axial and radial mesh resolutions were crucial for accurately modeling the ICRH processes. Additionally, RF configuration substantially influenced the ICRH stage. The statistical characteristics of multiple superparticles were also investigated; the cyclotron energy spanned 0–20.3 eV, whereas the axial energy exhibited a broader range of 0–33 eV, with a more closed Maxwellian distribution. The spatiotemporal anisotropy in particle trajectories stemmed from the synergistic effects between the electric and magnetic field gradients, underscoring the critical role of magnetic gradients in thrust modulation in plasma propulsion systems.