Abstract: A beam training method, a network device, a terminal device, a system and a storage medium are disclosed. The method may include: dividing K1 query beams into Q1 groups; transmitting, at a time-frequency resource position within an operating beam issuing time corresponding to each beam training period, pilot information by utilizing an operating beam in an operating beam set; and, transmitting, at a time-frequency resource position within a query beam issuing time corresponding to each beam training period, pilot information by utilizing a query beam in any query beam group.