Uplink signal transmission method, uplink signal reception method and apparatus thereof and a system. The uplink signal transmission method includes: when a network device configures first information associated with a spatial relation for an uplink signal but the special relation for the uplink signal is not effective, a terminal equipment transmits an uplink signal by using a spatial domain transmission filter the same as that of a transmitted signal or a received signal or using a spatial domain transmission filter associated with a predetermined item in the first information. With this method, the terminal equipment may transmit an uplink signal by using a suitable spatial domain transmission filter in a case where an uplink beam is not determined according to the configuration of the network device.