Methods, computing systems, and computer-readable media for detecting sensor malfunctioning status. The method includes receiving sensor measurements of a first type from a first type of sensor, deriving a first value for a metric from the sensor measurements of the first type, receiving sensor measurements of a second type from a second type of sensor, wherein the second measurements of the second type include a second value for the metric, comparing the first value to the second value, determining whether the first type of sensor or the second type of sensor is malfunctioning based on the comparing, and storing or outputting information indicating whether first type of sensor and the second type of sensor are malfunctioning.