Rally driver Colin McRae and two children - one his five-year-old son - died in the helicopter crash near his country home, police said.
Strathclyde Police said they now know the 39-year-old former world champion, his son Johnny, and two family friends died in the aircraft which burst into flames in Lanark, Scotland, on Saturday afternoon.
The other victims were named as six-year-old Ben Porcelli, of Lanark, and Graeme Duncan, 37, who lived in France.
The Twin Squirrel helicopter which McRae owned came down about 4.10pm, bursting into flames and starting a massive fire.
It was returning to McRae's home at Jerviswood from a nearby visit to the village of Quarter when the aircraft got into difficulty, police said.
Chief Superintendent Tim Love, divisional commander of Strathclyde Police's South Lanarkshire Division, said: "We believe that the group were just returning from a visit to the nearby village of Quarter around 4.05pm yesterday, when it appears that the helicopter got into difficulty and crashed within the grounds of Mr McRae's family home.
"Our officers are working closely with the Air Accident Investigation Team who are presently at the scene.
"Family Liaison Officers have been appointed and are with the families to help them through this distressing and difficult time."
A team of air accident investigators are spending the day at the scene examining the wreckage.
Strathclyde Police initially said that the damage was so bad from the accident that they didn't know how many people were on board. A team of around 40 firefighters were at one point dealing with the fire from the blast.
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