A system, the system comprising: at least one sensor configured to acquire sensor measurements that describe a kinematic state of the system; and a sensor calibration unit configured to receive the sensor measurements from the at least one sensor and calibrate the at least one sensor, wherein the sensor calibration unit comprises a processing unit, wherein computer readable instructions direct the processing unit to: acquire reference measurements, wherein the reference measurements describe the kinematic state of the system; characterised in that the computer readable instructions further direct the processing unit to: calculate a model residual based on the sensor measurements and a sensor measurement model; calculate a measurement residual based on the reference measurements and the sensor measurements; calculate a power spectral density of the model residual; calculate a power spectral density of the measurement residual; and identify sensor parameters for the sensor measurement model based on morphing the power spectral density of the model residual towards the power spectral density of the measurement residual, wherein the sensor measurement model compensates for errors in the sensor measurements by adjusting the sensor parameters of the sensor measurement model. at least one sensor configured to acquire sensor measurements that describe a kinematic state of the system; and a sensor calibration unit configured to receive the sensor measurements from the at least one sensor and calibrate the at least one sensor, wherein the sensor calibration unit comprises a processing unit, wherein computer readable instructions direct the processing unit to: acquire reference measurements, wherein the reference measurements describe the kinematic state of the system; characterised in that the computer readable instructions further direct the processing unit to: calculate a model residual based on the sensor measurements and a sensor measurement model; calculate a measurement residual based on the reference measurements and the sensor measurements; calculate a power spectral density of the model residual; calculate a power spectral density of the measurement residual; and identify sensor parameters for the sensor measurement model based on morphing the power spectral density of the model residual towards the power spectral density of the measurement residual, wherein the sensor measurement model compensates for errors in the sensor measurements by adjusting the sensor parameters of the sensor measurement model. acquire reference measurements, wherein the reference measurements describe the kinematic state of the system; characterised in that the computer readable instructions further direct the processing unit to: calculate a model residual based on the sensor measurements and a sensor measurement model; calculate a measurement residual based on the reference measurements and the sensor measurements; calculate a power spectral density of the model residual; calculate a power spectral density of the measurement residual; and identify sensor parameters for the sensor measurement model based on morphing the power spectral density of the model residual towards the power spectral density of the measurement residual, wherein the sensor measurement model compensates for errors in the sensor measurements by adjusting the sensor parameters of the sensor measurement model. calculate a model residual based on the sensor measurements and a sensor measurement model; calculate a measurement residual based on the reference measurements and the sensor measurements; calculate a power spectral density of the model residual; calculate a power spectral density of the measurement residual; and identify sensor parameters for the sensor measurement model based on morphing the power spectral density of the model residual towards the power spectral density of the measurement residual, wherein the sensor measurement model compensates for errors in the sensor measurements by adjusting the sensor parameters of the sensor measurement model.