Introduced are a data transmission method, apparatus and device based on a modulation signal and a storage medium. The method includes steps as follows: calculating a first amplitude-modulated sine wave signal and a second amplitude-modulated sine wave signal with each preset frequency individually; based on the first amplitude-modulated sine wave signal and the second amplitude-modulated sine wave signal with the each preset frequency and according to a preset mapping rule, mapping a sequence of data bits to be sent into a signal sequence; and processing the signal sequence to generate a transmittable radio-frequency signal, and sending the transmittable radio-frequency signal to a receiving end.