Empirical knowledge from software engineering studies is an important source for the creation of accurate simulation models. This article describes the development of a simulation model using empirical knowledge gained from an experiment at the NASA/GSFC Software Engineering Laboratory and from two replications at the University of Kaiserslautern. Data and analysis results are used to identify influence dependencies between parameters, and to calibrate models. The goal of the model is the determination of the effects (i. e., defect detection efficiency) of a requirements inspection process under varying contexts. The purpose is to provide decision support for project managers and process engineers when planning or changing a development process. This article describes the systematic model development with a focus on the use of empirical knowledge. Additionally, limitations of the model, lessons learned, and research questions for future work are sketched. The model performed well in an initial validation run, with only little deviation from experimental values.