How to clean a signal from noise by means of the filter of Kalman?

Hi! Help me to finish the program. How to clean a signal from noise by means of the filter of Kalman?

%%% Creation of the Filter of Kalman %%% for cleaning of a signal from noise.

clc; clear all; close all;

%%%================================= % Polynom for Plant % 10 / 8*s^2 + 6*s^1 + 10 (for example, low-pass filter)

% LTI-object w = tf([10],[8 6 10]);

t = 0:0.001:10;

Fp = []; Fp = step(w,t); figure(1) plot(t,Fp,'r');

Fimp = []; Fimp = impulse(w,t); figure(2) plot(t,Fimp,'g');

figure(3) bode(w);

figure(4) nyquist(w);

%======================================= X = 2*sin(2*pi*3*t) + 1*sin(2*pi*5*t) + 0.5*sin(2*pi*7*t); % signal v = 1*randn(size(t)); % noise Xv = X + v; figure(5) plot(t,Xv)

%======================================= sys = ss(w);

Qn = 1; %for example Rn = 1; %for example Nn = 0; %for example

[kest,L,P,M,Z] = kalman(sys,Qn,Rn,Nn)

%======================================== %%% Please, Help me! %%% My questions: What to do further? %%% How to clean a signal from noise by means of the filter of Kalman?