How do I use a filter...?

I obtain angular velocity data from AHRS sensor.

Then I obtain angular acceleration by applying discrete differentiation each term.

But I has many noises, so I'd like to apply a low pass filter.

But I don't know how to make a filter.

How can I make spectrum and find cutoff frequency?

And then how can I make filter..?

Thank you..

[Mathieu NOE]

hello

you can start with simple moving window averaging (equivalent to low pass FIR ) using movmean