Is there any tool to solve non-linear equation which has measurement errors both in independent and dependent variables?

Question

My equation is :

$R = \beta1 * \cos(\theta) + \beta2 * \sin(\theta)$ ,

where independent variable $\theta$ and dependent variable R has errors with variance $\sigma_{\theta}^2$ and $\sigma_{R}^2$ respectively. How to solve for $\beta1$ and $\beta2$ by accounting for errors in variables?

Any help is appreciated