Sensor calibration method and device, device and storage medium

The embodiment of the application provides a sensor calibration method and device, a device and a storage medium. The sensor calibration method comprises the following steps: obtaining an actual position of a terminal device at the current time and an estimated position of the current time calculated based on the measurement data of a target sensor; and performing a calibration operation on the target sensor based on the deviation between the estimated position and the actual position when it is detected that the estimated position and the actual position do not coincide. Therefore, the user is prevented from participating in the calibration operation, and the problem of inaccurate positioning caused by that the sensor parameters are no longer applied to the changed scene after the position of the terminal device changes is solved. 本申请实施例提供一种传感器的校正方法、装置、设备及存储介质，通过获取终端设备在当前时刻的实际位置和基于目标传感器的测量数据计算获得的当前时刻的估计位置，并在检测到估计位置和实际位置不一致时，基于估计位置与实际位置之间的偏差对目标传感器执行校正操作。从而避免了用户参与校正操作，解决了终端设备位置变化后传感器参数不再适用变化后的场景所导致的定位不准确的问题。