This error suggests that there is a problem with either your certificate or your private key.
If you open Keychain Access (in Applications/Utilities), do you see 'iPhone Developer: XXXXXXXXXX' in your certificates? If not, you need to download it from the Program Portal.
When you created the certificate 'iPhone Developer: XXXXXXXXXX', did you generate a certificate signing request on the same computer that you are now using to compile? If not, the private key that goes with your certificate may not be installed on the computer; whoever generated the signing request will need to send it to you, and you will need to add it to your keychain.