Kalman FIlter to obtain pitch angle

I have the pitch rate data q (as shown below). One way to obtain pitch angle theta is to numerically integrate q. But if the measured q is noisy, then a better way is to use a Kalman Filter. Is it not? How do I design the filter?

Answer 1

[John Petersen]

You could use accelerometer data to measure pitch. Or you could estimate q and q bias with a Kalman filter, but then you still need to initialize the pitch angle and integrate q. With both accel data and q data it can be done.