Due　to　the　presence　of　dozens　of　error　sources　in　the　platform　inertial　measurement　system,　these　error　sources　affect　the　system＇s　measurement　results　to　varying　degrees.　This　paper　introduces　a　new　error　model　for　a　four-axis　frame　system,　which　can　be　utilised　for　multi-axis　frame　systems＇　self-calibration　and　measurement　error　compensation.　The　model　takes　into　account　a　comprehensive　set　of　29　error　parameters,　including　accelerometer　component　errors,　measurement　errors　in　the　four-axis　frame　system,　and　associated　non-orthogonal　errors.　Finally,　computer　simulations　are　conducted　to　evaluate　the　potential　impacts　of　these　error　sources　on　the　specific　force　observations.　©　Published　under　licence　by　IOP　Publishing　Ltd.