The invention relates to a hemispherical resonant gyro fully differential control system and control method based on time division multiplexing. The control system comprises an electrode driving detection time division switching module, a sensing signal amplitude-phase demodulation module, an error parameter identification module, a working mode switching module, a control parameter calculation module, a time sequence period calculation module, a mode switching calculation module, a driving signal modulation synthesis module and a measurement output module. The sensing signal amplitude-phase demodulation module and the error parameter identification module form an error signal resolving module. The control parameter calculation module, the time sequence period calculation module and the mode switching calculation module form a data calculation unit. By means of time-sharing switching and two-rotation sensing mode difference of driving detection electrodes, gyro output error terms can be counteracted and inhibited, and the control precision of each control loop and stability of the performance of a hemispherical resonant gyro can be guaranteed.