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A few-mode fiber Bragg grating (FM-FBG) inscribed in a few-mode fiber (FMF) can maintain multiple reflection peaks due to the stable multiple modes in FMF. This paper studies the sensing characteristics of multiple reflection peaks for a four-mode FBG (4M-FBG) and innovatively proposes a joint-peak demodulation method based on one FM-FBG to reduce measurement error in temperature or strain sensing. This joint-peak demodulation method, theoretically explained and experimentally verified, provides the possibility of generating miniature se