An uplink transmission method includes obtaining control information useable for uplink transmission with dynamic scheduling, determining based on information about a first time-frequency resource allocated to the uplink transmission and configuration information of a first reference signal useable for the uplink transmission, a second time-frequency resource useable to send the first reference signal, obtaining first information of a semi-statically configured resource useable for the uplink transmission, and in response to performing the uplink transmission based on the control information, sending, by the communications apparatus on an overlapping time-frequency resource of a second time-frequency resource and a third time-frequency resource, a reference signal generated based on configuration information of a second reference signal or failing to send a signal. The control information includes information about the first time-frequency resource allocated to the uplink transmission and configuration information of the first reference signal useable for the uplink transmission.