When we measure some signal using sensors it is polluted with a lot of noise. Is there anyway to find probability density function followed by the noise and its statistical properties?
You need to perform a reference measurement of a signal you know. Typically in practice it is a good idea to measure a periodic signal with a known period length. Even if your sensors are not ideal they will not measure the exact phase, amplitude or frequency. Nevertheless, if you use the Fourier transform you can detect the frequency of the measured periodic signal. In this sense you also know the period length. Measure several periods with the sensor, partition the measured signal in segment where its length is equal to the period. The periodic signal should be the same from segment to segment while the noise is different. Taking the mean over the different periods point-wise, the noise will be forced to its mean value (likely to be zero) while the mean of the periodic part is unchanged due to periodicity. The mean you obtain is an estimate of the periodic signal as measured by the sensor (you can not use the reference signal which is created and measured by the sensors as the sensors are not ideal and can suffer for instance from nonlinearities or other artefacts). Once you have this mean periodic signal you can substract it from each segment which leaves only the noise. Compute the histogram of this residual signal and you obtain the pdf of the noise sequence.
most filters assumes a Gaussian normal distribution of the measurement noise model, you need to tune the measurement covariance matrix or use an adaptive multiple model, another way is to use a neural network to determine the model which demands a big data-set for the training process to have an accurate estimation.