Systems and methods for off-line and on-line sensor calibration are provided. In certain embodiments, a method for calibrating a sensor comprises receiving at least one reference measurement describing a system state for a system; and receiving at least one sensor measurement from the sensor, wherein the at least one sensor measurement is acquired from an observation of the environment of the system by the sensor. The method also comprises calculating a model residual power spectral density based on the at least one reference measurement and a sensor measurement model; and calculating a measurement residual power spectral density based on the at least one sensor measurement and the at least one reference measurement. Further, the method comprises identifying sensor parameters that morph the model residual power spectral density towards the measurement residual power spectral density.