Determining instantaneous velocity from acceleration data

Hi,

I am using an accelerometer and gyroscope to collect data in the x, y, and z direction. My goal is to determine the instantaneous velocity and angular position at any time of the trial. Currently, I save my data into a txt file then manually import the variables (ax,ay,az,gx,gy,gz). What would be the best approach here? Is there a better method than numerical integration?

Thanks for your help, Emerson