Abstract: A method for determining sensor calibration parameters includes: obtaining a plurality of sets of sensor measurement values, in a sensor coordinate system, of a sensor of a user equipment; and determining the sensor calibration parameters, based on a first portion of the plurality of sets of sensor measurement values corresponding to first times at which the user equipment is at rest and based on a second portion of the plurality of sets of sensor measurement values at least some of which correspond to second times at which the user equipment is in motion, such that application of the sensor calibration parameters to a selected set of the plurality of sets of sensor measurement values yields a calibrated set of calibrated sensor measurement values in a reference coordinate system.