Bayesian calibration is an effective approach for ensuring that numerical simulations accurately reflect the behavior of physical systems. However, because numerical models are never perfect, a discrepancy known as model error exists between the model outputs and the observed data, and must be quantified. Conventional methods can not be implemented in transposition situations, such as when a model has multiple outputs but only one is experimentally observed. To account for the model error in this context, we propose augmenting the calibration process by introducing additional input numerical parameters through a hierarchical Bayesian model, which includes hyperparameters for the prior distribution of the calibration variables. Importance sampling estimators are used to avoid increasing computational costs. Performance metrics are introduced to assess the proposed probabilistic model and the accuracy of its predictions. The method is applied on a computer code with three outputs that models the Taylor cylinder impact test. The outputs are considered as the observed variables one at a time, to work with three different transposition situations. The proposed method is compared with other approaches that embed model errors to demonstrate the significance of the hierarchical formulation.