Rotary inertial navigation system-level temperature compensation method based on multiple temperature points

The invention provides a rotary inertial navigation system-level temperature compensation method based on multiple temperature points, and belongs to the field of inertial navigation temperature compensation. The method specifically comprises the following steps: arranging a plurality of temperature measuring points in a fiber-optic gyroscope; measuring the temperature field change of the fiber-optic gyroscope through a plurality of temperature measuring points, and calculating temperature error data of the fiber-optic gyroscope through system-level self-calibration; calculating temperature coefficient data through a least square method according to the temperature error data and a temperature matrix of the fiber-optic gyroscope during temperature circulation; according to the current temperature observation value of the fiber-optic gyroscope and the temperature coefficient data, calculating to obtain an error compensation amount; compensating the fiber-optic gyroscope according to the error compensation quan