A reference signal transmission method, comprising: determining, by a first communication apparatus, a first transmission parameter in at least two transmission parameters, wherein any two of the at least two transmission parameters are different, and the first transmission parameter is used to determine a first transmission resource for a first reference signal and wherein each transmission parameter in the at least two transmission parameters includes a resource offset; and sending, by the first communication apparatus, the first reference signal to a second communication apparatus on the first transmission resource, wherein the first communication apparatus is a first terminal apparatus and the second communication apparatus is a second terminal apparatus, wherein the determining, by a first communication apparatus, a first transmission parameter in at least two transmission parameters comprises: determining, by the first communication apparatus, the first transmission parameter in the at least two transmission parameters based on identification information of the first communication apparatus and a correspondence between identification information of at least two communication apparatuses and the at least two transmission parameters, wherein the first communication apparatus receives second configuration information from a third communication apparatus, wherein the second configuration information indicates the at least two transmission parameters and the correspondence between the identification information of the at least two communication apparatuses and the at least two transmission parameters, wherein the third communication apparatus is a third terminal apparatus. determining, by a first communication apparatus, a first transmission parameter in at least two transmission parameters, wherein any two of the at least two transmission parameters are different, and the first transmission parameter is used to determine a first transmission resource for a first reference signal and wherein each transmission parameter in the at least two transmission parameters includes a resource offset; and sending, by the first communication apparatus, the first reference signal to a second communication apparatus on the first transmission resource, wherein the first communication apparatus is a first terminal apparatus and the second communication apparatus is a second terminal apparatus, wherein the determining, by a first communication apparatus, a first transmission parameter in at least two transmission parameters comprises: determining, by the first communication apparatus, the first transmission parameter in the at least two transmission parameters based on identification information of the first communication apparatus and a correspondence between identification information of at least two communication apparatuses and the at least two transmission parameters, wherein the first communication apparatus receives second configuration information from a third communication apparatus, wherein the second configuration information indicates the at least two transmission parameters and the correspondence between the identification information of the at least two communication apparatuses and the at least two transmission parameters, wherein the third communication apparatus is a third terminal apparatus. determining, by the first communication apparatus, the first transmission parameter in the at least two transmission parameters based on identification information of the first communication apparatus and a correspondence between identification information of at least two communication apparatuses and the at least two transmission parameters, wherein the first communication apparatus receives second configuration information from a third communication apparatus, wherein the second configuration information indicates the at least two transmission parameters and the correspondence between the identification information of the at least two communication apparatuses and the at least two transmission parameters, wherein the third communication apparatus is a third terminal apparatus.