Systems and methods are provided for calibrating equipment, such as a lighting fixture. A kinematic model of the lighting fixture is obtained. Test points, which include a pair of a corresponding control signal and an output are collected. These can be collected using a tracking system. The test points are then used to update the kinematic model of the lighting fixture. The process of updating the kinematic model can include the use of a Kalman filter. The calibration is then verified and may be re-calibrated. These methods can also be used to calibrate other equipment, for example, lasers, light projectors showing media content, audio speaker, microphones, cameras, and projectile equipment.