You can't restore since Apple stopped signing iOS 9.0.2 and a restore would force you to upgrade to iOS 9.1 which is not jailbreakable at this time. Have you installed any tweaks from Cydia after you did the jailbreak? If you did, try booting the phone while holding down the volume up key until the lock screen appears. You can then login to you phone and remove the offending tweak from Cydia. If this is not the case you may be stuck in a "boot loop of death" which may not be recoverable. Best of luck.
Did you try the jailbreak on an OTA updated device? That's one of the things that can cause this JB to fail. If you're bootlooping and you can't get into no substrate mode then you'll have to restore via iTunes.