Hilchos Maasei Hakarbanos 5:11

The blood of sin offerings that are burned is brought into the Heichal and sprinkled there as outlined in Leviticus 4 and 16. The rest of the blood is poured on the western base of the outside altar, which is the side he comes to first when he exits the Heichal.

Hilchos Maasei Hakarbanos 5:12

The blood is sprinkled as follows: The blood of the bull and of the goat offered on Yom Kippur are sprinkled eight times between the poles of the Aron and eight times on the curtain. The blood of the bull and of the goat are then mixed together and sprinkled four times, once on each corner of the golden (incense) altar, which was in the Heichal, and seven times in the middle of this altar. This will be discussed further when we come to Hilchos Avodas Yom HaKippurim, IY”H. (The sprinklings had to be performed in a particular order, but) they are valid even if he wasn’t careful about this.