Among 3D measurement approaches, multi-frequency phase-shifting structured light has advantages such as high resolution and high sampling rate owing to its point-to-point calculation method. However, there is always phase jump in the measurement process, which greatly reduces measurement accuracy. This paper proposes an error self-correction method for phase jump based on the multi-frequency heterodyne approach. The method uses redundant measurement data to implement self-correction and does not require additional data acquisition steps. We perform both simulations and experiments using the proposed error self-correction method and the classical heterodyne approach to compare the results. The experiment results verify both the accuracy and suitability of the proposed method.