Five-axis measuring systems (i.e. coordinate measuring machines equipped with articulated probe heads capable of continuous indexation or five-axis machine tools with inspection probe mounted on a tilt and swivel head) are becoming more and more popular, especially in industrial applications, since their usage speeds up the measurement process without significant loss in accuracy. Widespread adoption of these systems necessitates development of viable and easy-to-use measurement uncertainty estimation methods. This paper describes the experiments required for identification of errors of five-axis measuring systems based on usage of LasrTracer system and measurements of ring standard. It also expounds the methodology for implementation of virtual CMM-based simulation model for these systems giving the explanation on all input quantities used in the model along with detailed mathematical explanations on uncertainty propagation procedure. Eventually, it presents the validation methodology and the results of validation measurements performed in order to prove the correct functioning of developed model. Basing on these results, the main conclusion drawn in the paper is that presented virtual model should be regarded as working properly and producing metrologically correct values of measurement uncertainty for common metrological tasks known from GD&T framework.