diff --git a/Analisys_With_Features.m b/Analisys_With_Features.m
index b998a1e96091d701dbbca178c4dde7f1c9bf0a60..138fa7f9f1c6662095e132d2624e53ffb22880a2 100644
--- a/Analisys_With_Features.m
+++ b/Analisys_With_Features.m
@@ -57,13 +57,13 @@ clc
     MMX0    = MMX0./units.sfVec;
 
 %   Analysis initial state vector
-    St0     = [MMX0; Ph0; pars.I2; pars.bias];
+    % St0     = [MMX0; Ph0; pars.I2; pars.bias];
     St0     = [MMX0; Ph0(1:4); Ph0(7:8); pars.I2; pars.bias];
     pars.X0_reference = [MMX0; Ph0; pars.I2; pars.bias];
     
     % Est0.dx = zeros(size(St0,1),1);
     % pars.flag_FILTERING = 0;
-    Est0.dx = St0*1e-6;
+    Est0.dx = St0.*randn(size(St0))*1e-6;
     pars.flag_FILTERING = 1;
     Est0.X  = St0+Est0.dx;
     Est0.P0 = pars.P0;
@@ -79,8 +79,8 @@ clc
 %   ma con l'aggiunta delle features crascha perchè non trova features 
 %   comuni tra i vari sigmapoints. 
     
-    % pars.alpha = 1;
-    % pars.beta  = 2;
+    pars.alpha = 1;
+    pars.beta  = 2;
     % [Est] = UKF_Tool(Est0,@Dynamics_MPHandMMX_Inertia,...
     %     @Cov_Dynamics_Good, @Observables_model_with_Features,...
     %     pars.R,YObs,pars,units,file_features);
@@ -96,6 +96,7 @@ clc
     % [Est] = UKF_features(Est0, @SigmaPoints_Dynamics_Good,...
     %     @Observables_model_with_Features,...
     %     pars.R,YObs,pars,units,file_features);
+
     pars.alpha = 1e-1;    
     pars.beta  = 2;
     [Est] = UKF_features(Est0, @SigmaPoints_Dynamics_Good_NoPhi,...
diff --git a/Mars_LimbRange.m b/Mars_LimbRange.m
index ee039da050bf2dfb1016c923d7777a2f8950a94e..3962de9f211bd9dd15d8adfa36f4f4ff7567efb6 100644
--- a/Mars_LimbRange.m
+++ b/Mars_LimbRange.m
@@ -50,6 +50,12 @@ function Limb_Range = Mars_LimbRange(MMX, Phobos, Sun, pars, units)
     Mars_centre = zeros(3,1) - Phobos(1:3);
     Mars_centre = R_ini*R2rot'*Mars_centre;
 
+%   Phobos pole position in the Phobos rotating frame
+    Phobos_pole     = [0; 0; -pars.Phobos.gamma];
+    Phobos_pole     = R_ini*Phobos_pole;
+    Phobos_centre   = zeros(3,1);
+    Phobos_centre   = R_ini*Phobos_centre;
+
 %   Sunlight direction in the rotating reference frame
     Sun = R2rot*Sun(1:3);
     I_Sun = Sun/norm(Sun);
@@ -57,20 +63,26 @@ function Limb_Range = Mars_LimbRange(MMX, Phobos, Sun, pars, units)
     angle_MMXSun = acos(dot(I_sM,I_Sun));
 
     [~, ~, PM]  = ProjMatrix(-r_sb_Ph, pars, units);
-    MP   = PM*[-Mars_pole; 1];
-    MP   = MP./repmat(MP(3),3,1);
-    MC = PM*[-Mars_centre; 1];
-    MC = MC./repmat(MC(3),3,1);
+    MP  = PM*[-Mars_pole; 1];
+    MP  = MP./repmat(MP(3),3,1);
+    MC  = PM*[-Mars_centre; 1];
+    MC  = MC./repmat(MC(3),3,1);
+
+    PhP = PM*[-Phobos_pole; 1];
+    PhP = PhP./repmat(PhP(3),3,1);
+    PhC = PM*[-Phobos_centre; 1];
+    PhC = PhC./repmat(PhC(3),3,1);
 
     if ((any(MC<0))||(any(MP<0))||((MC(1)>pars.cam.nPixX))||...
             (MP(1)>pars.cam.nPixX)||(MC(2)>pars.cam.nPixY)||...
             (MP(2)>pars.cam.nPixY))||(dot(r_sb_Ph, Mars_centre)>0)||...
-            ((dot(I_sM,I_Sun)<0)&&((angle_MMXSun-pi/2)<pars.FOV))
+            ((dot(I_sM,I_Sun)<0)&&((angle_MMXSun-pi/2)<pars.FOV))||...
+            (PhP(2)<MP(2)*1.1)
         Limb_Range = [];
     else
         Limb_radius = MP - MC;
         Limb_Range  = round(sqrt(Limb_radius(1)^2 + Limb_radius(2)^2) + random('Normal',0, pars.ObsNoise.pixel));
-        % Plotfeatures_Pic(MC, MP, pars);
+        % Plotfeatures_Pic([MC, PhC], [MP, PhP], pars);
     end
 
 
diff --git a/Observations_Generation.m b/Observations_Generation.m
index b8845221768bcd3127c48e65edb816304709ede0..82af073e5710265584866c70300b4b009f9a9a15 100644
--- a/Observations_Generation.m
+++ b/Observations_Generation.m
@@ -30,7 +30,7 @@ clc
 %   Time of the analysis
     data        = '2026-03-16 00:00:00 (UTC)';
     data        = cspice_str2et(data);
-    Ndays       = 7;
+    Ndays       = 5;
     t           = Ndays*86400;
     date_end    = data+t;
 
diff --git a/Phobos_cartesian_covariance.m b/Phobos_cartesian_covariance.m
index 6d7c4b5254fccf7655233c2a365461051b9bde89..e9fbafd935923cfa0d334d976e3275ba18f125a7 100644
--- a/Phobos_cartesian_covariance.m
+++ b/Phobos_cartesian_covariance.m
@@ -72,7 +72,7 @@ function [P_PhXYZ, P_Xrel, P_PhVXYZ, P_Vrel, X_Phobos] = ...
 %             P_t(7:10,7:10,i)*[dVdR(:,i), dVdR_dot(:,i), dVdtheta(:,i), dVdtheta_dot(:,i)]';
 % 
 %     end
-% 
+
 % %   Correlation covariance MMX-Phobos
 %     P_PhXYZ_MMX     = zeros(3,3,size(X_t(9,:),2));
 %     P_MMX_PhXYZ     = zeros(3,3,size(X_t(9,:),2));
@@ -110,8 +110,8 @@ function [P_PhXYZ, P_Xrel, P_PhVXYZ, P_Vrel, X_Phobos] = ...
     P_MMX_PhXYZ     = zeros(6,6,size(X_t(9,:),2));
 
     for i=1:size(X_t(9,:),2)
-        P_PhXYZ_MMX(:,:,i)  = [dXdR(:,i), dXdtheta(:,i), zeros(3,2); dVdR(:,i), dVdR_dot(:,i), dVdtheta(:,i), dVdtheta_dot(:,i)]*P_t(7:10,1:6,i);
-        P_MMX_PhXYZ(:,:,i) = P_t(1:6,7:10,i)*[dXdR(:,i), dXdtheta(:,i), zeros(3,2); dVdR(:,i), dVdR_dot(:,i), dVdtheta(:,i), dVdtheta_dot(:,i)]';
+        P_PhXYZ_MMX(:,:,i)  = [dXdR(:,i), zeros(3,1), dXdtheta(:,i), zeros(3,1); dVdR(:,i), dVdR_dot(:,i), dVdtheta(:,i), dVdtheta_dot(:,i)]*P_t(7:10,1:6,i);
+        P_MMX_PhXYZ(:,:,i) = P_t(1:6,7:10,i)*[dXdR(:,i), zeros(3,1), dXdtheta(:,i), zeros(3,1); dVdR(:,i), dVdR_dot(:,i), dVdtheta(:,i), dVdtheta_dot(:,i)]';
 
     end
 
diff --git a/PlotGeometryAndLight.m b/PlotGeometryAndLight.m
index 47f5b32cc8f5b2e4678dd73ec1010aeb8b011b43..2de708664367a9763fb46a71a8d0b84fdff97214 100644
--- a/PlotGeometryAndLight.m
+++ b/PlotGeometryAndLight.m
@@ -30,9 +30,9 @@ function PlotGeometryAndLight(points, point_in_light, visible, r_sb_Ph, r_PhSun,
             quiver3(r_sb_Ph(1),r_sb_Ph(2),r_sb_Ph(3),LOS(1)*units.lsf,LOS(2)*units.lsf,LOS(3)*units.lsf);
         end
     end
-    xlabel('X','FontSize',16,'Interpreter','latex')
-    ylabel('Y','FontSize',16,'Interpreter','latex')
-    zlabel('Z','FontSize',16,'Interpreter','latex')
+    xlabel('Radial [km]','FontSize',26,'Interpreter','latex')
+    ylabel('Along Track [km]','FontSize',26,'Interpreter','latex')
+    zlabel('Z [km]','FontSize',26,'Interpreter','latex')
     quiver3(-2*r_PhSun(1)*units.lsf,-2*r_PhSun(2)*units.lsf,-2*r_PhSun(3)*units.lsf,...
         r_PhSun(1)*units.lsf,r_PhSun(2)*units.lsf,r_PhSun(3)*units.lsf,'LineWidth',1.5,'Color','g')
     plot3(-2*r_PhSun(1)*units.lsf,-2*r_PhSun(2)*units.lsf,-2*r_PhSun(3)*units.lsf, '*','Color','g','MarkerSize',20)
diff --git a/Results.m b/Results.m
index dbe4138b881c4365482af6e3be12e3cb25bee9bc..df0739c0c4c3896befdddc1daaa2abfe008e2089 100644
--- a/Results.m
+++ b/Results.m
@@ -531,6 +531,29 @@ function Results(Est, pars, units)
  %--------------------------------------------------------------------------
 
  
+    figure()
+    subplot(1,2,1)
+    semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(P_PhXYZ(1,1,1:end-1)))),'Color','b','LineWidth',1)
+    hold on;
+    grid on;
+    semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_PhXYZ(2,2,1:end-1)))),'Color','r','LineWidth',1)
+    semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_PhXYZ(3,3,1:end-1)))),'Color','g','LineWidth',1)
+    semilogy(t_obs(1:end-1)/3600,SQRT_X_Ph,'Color','k','LineWidth',2)
+    xlabel('time $[hour]$','FontSize',30)
+    ylabel('$[km]$','FontSize',30)
+    title('Phobos position vector $3\sigma$ envelopes','Interpreter','latex','FontSize',30)
+    legend('$3\sigma_{x}$','$3\sigma_{y}$','$3\sigma_{z}$','$3 RMS$','Interpreter','latex','FontSize',26)
+    subplot(1,2,2)
+    semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(P_PhVXYZ(1,1,1:end-1)))),'Color','b','LineWidth',1)
+    hold on;
+    grid on;
+    semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_PhVXYZ(2,2,1:end-1)))),'Color','r','LineWidth',1)
+    semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_PhVXYZ(3,3,1:end-1)))),'Color','g','LineWidth',1)
+    semilogy(t_obs(1:end-1)/3600,SQRT_V_Ph,'Color','k','LineWidth',2)
+    xlabel('time $[hour]$','FontSize',30)
+    ylabel('$[km]$','FontSize',30)
+    title('Phobos velocity vector $3\sigma$ envelopes','Interpreter','latex','FontSize',30)
+    legend('$3\sigma_{\dot{x}}$','$3\sigma_{\dot{y}}$','$3\sigma_{\dot{z}}$','$3 RMS$','Interpreter','latex','FontSize',26)
 
 
     figure()
@@ -541,10 +564,10 @@ function Results(Est, pars, units)
     semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_PhXYZ(2,2,1:end-1)))),'Color','r','LineWidth',1)
     semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_PhXYZ(3,3,1:end-1)))),'Color','g','LineWidth',1)
     semilogy(t_obs(1:end-1)/3600,SQRT_X_Ph,'Color','k','LineWidth',2)
-    xlabel('time $[hour]$')
-    ylabel('$[km]$')
+    xlabel('time $[hour]$','FontSize',30)
+    ylabel('$[km]$','FontSize',30)
     title('Phobos position vector $3\sigma$ envelopes','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{x}$','$3\sigma_{y}$','$3\sigma_{z}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{x}$','$3\sigma_{y}$','$3\sigma_{z}$','$3 RMS$','Interpreter','latex','FontSize',26)
     subplot(1,3,2)
     semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(P_PhVXYZ(1,1,1:end-1)))),'Color','b','LineWidth',1)
     hold on;
@@ -552,10 +575,10 @@ function Results(Est, pars, units)
     semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_PhVXYZ(2,2,1:end-1)))),'Color','r','LineWidth',1)
     semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_PhVXYZ(3,3,1:end-1)))),'Color','g','LineWidth',1)
     semilogy(t_obs(1:end-1)/3600,SQRT_V_Ph,'Color','k','LineWidth',2)
-    xlabel('time $[hour]$')
-    ylabel('$[km]$')
+    xlabel('time $[hour]$','FontSize',30)
+    ylabel('$[km]$','FontSize',30)
     title('Phobos velocity vector $3\sigma$ envelopes','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{\dot{x}}$','$3\sigma_{\dot{y}}$','$3\sigma_{\dot{z}}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{\dot{x}}$','$3\sigma_{\dot{y}}$','$3\sigma_{\dot{z}}$','$3 RMS$','Interpreter','latex','FontSize',26)
     subplot(1,3,3)
     semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(P_rel_MMXPh(1,1,1:end-1)))),'Color','b','LineWidth',1)
     hold on;
@@ -563,10 +586,10 @@ function Results(Est, pars, units)
     semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_rel_MMXPh(2,2,1:end-1)))),'Color','r','LineWidth',1)
     semilogy(t_obs(1:end-1)/3600,3*squeeze(real(sqrt(P_rel_MMXPh(3,3,1:end-1)))),'Color','g','LineWidth',1)
     semilogy(t_obs(1:end-1)/3600,SQRT_X_rel,'Color','k','LineWidth',2)
-    xlabel('time $[hour]$')
-    ylabel('$[km]$')
+    xlabel('time $[hour]$','FontSize',30)
+    ylabel('$[km]$','FontSize',30)
     title('MMX-Phobos relative distance $3\sigma$ envelopes','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{x}$','$3\sigma_{y}$','$3\sigma_{z}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{x}$','$3\sigma_{y}$','$3\sigma_{z}$','$3 RMS$','Interpreter','latex','FontSize',26)
     
 
     figure()
@@ -580,7 +603,7 @@ function Results(Est, pars, units)
     xlabel('time $[hour]$')
     ylabel('$[km]$')
     title('Phobos position vector $3\sigma$ envelopes','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{x}$','$3\sigma_{y}$','$3\sigma_{z}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{x}$','$3\sigma_{y}$','$3\sigma_{z}$','$3 RMS$','Interpreter','latex','FontSize',26)
     subplot(2,2,2)
     semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(P_PhVXYZ(1,1,1:end-1)))),'Color','b','LineWidth',1)
     hold on;
@@ -591,7 +614,7 @@ function Results(Est, pars, units)
     xlabel('time $[hour]$')
     ylabel('$[km]$')
     title('Phobos velocity vector $3\sigma$ envelopes','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{\dot{x}}$','$3\sigma_{\dot{y}}$','$3\sigma_{\dot{z}}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{\dot{x}}$','$3\sigma_{\dot{y}}$','$3\sigma_{\dot{z}}$','$3 RMS$','Interpreter','latex','FontSize',26)
     subplot(2,2,3)
     semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(P_rel_MMXPh(1,1,1:end-1)))),'Color','b','LineWidth',1)
     hold on;
@@ -602,7 +625,7 @@ function Results(Est, pars, units)
     xlabel('time $[hour]$')
     ylabel('$[km]$')
     title('MMX-Phobos relative distance $3\sigma$ envelopes','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{x}$','$3\sigma_{y}$','$3\sigma_{z}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{x}$','$3\sigma_{y}$','$3\sigma_{z}$','$3 RMS$','Interpreter','latex','FontSize',26)
     subplot(2,2,4)
     semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(P_Vrel_MMXPh(1,1,1:end-1)))),'Color','b','LineWidth',1)
     hold on;
@@ -613,7 +636,7 @@ function Results(Est, pars, units)
     xlabel('time $[hour]$')
     ylabel('$[km/s]$')
     title('MMX-Phobos relative velocity $3\sigma$ envelopes','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{\dot{x}}$','$3\sigma_{\dot{y}}$','$3\sigma_{\dot{z}}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{\dot{x}}$','$3\sigma_{\dot{y}}$','$3\sigma_{\dot{z}}$','$3 RMS$','Interpreter','latex','FontSize',26)
  
 
 
@@ -646,7 +669,7 @@ function Results(Est, pars, units)
     xlabel('time $[hour]$')
     ylabel('$[km]$')
     title('Phobos position $3\sigma$ in RAC directions wrt Phobos position','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{radial}$','$3\sigma_{along}$','$3\sigma_{cross}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{radial}$','$3\sigma_{along}$','$3\sigma_{cross}$','$3 RMS$','Interpreter','latex','FontSize',26)
     subplot(1,3,2)
     semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(P_MMX_RAC(1,1,1:end-1)))),'Color','b','LineWidth',1)
     hold on;
@@ -657,7 +680,7 @@ function Results(Est, pars, units)
     xlabel('time $[hour]$')
     ylabel('$[km]$')
     title('MMX position $3\sigma$ in RAC directions wrt Phobos position','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{radial}$','$3\sigma_{along}$','$3\sigma_{cross}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{radial}$','$3\sigma_{along}$','$3\sigma_{cross}$','$3 RMS$','Interpreter','latex','FontSize',26)
     subplot(1,3,3)
     semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(P_Rel_RAC(1,1,1:end-1)))),'Color','b','LineWidth',1)
     hold on;
@@ -668,7 +691,7 @@ function Results(Est, pars, units)
     xlabel('time $[hour]$')
     ylabel('$[km]$')
     title('MMX position $3\sigma$ in RAC directions wrt Phobos position','Interpreter','latex','FontSize',30)
-    legend('$3\sigma_{radial}$','$3\sigma_{along}$','$3\sigma_{cross}$','$3 RMS$','Interpreter','latex','FontSize',14)
+    legend('$3\sigma_{radial}$','$3\sigma_{along}$','$3\sigma_{cross}$','$3 RMS$','Interpreter','latex','FontSize',26)
     
 
 
@@ -697,21 +720,21 @@ end
 %     hold on;
     corr_label{end+1} = ['$I_{PhX}$'];
 %     xlabel('time $[hour]$')
-%     legend('$I_{PhX}$','Interpreter','latex','FontSize',14)
+%     legend('$I_{PhX}$','Interpreter','latex','FontSize',26)
 %     subplot(1,3,2)
 %     semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est.P_t(16,16,1:end-1)))),'LineWidth',1);
 %     grid on;
 %     hold on;
     corr_label{end+1} = ['$I_{PhY}$'];
 %     xlabel('time $[hour]$')
-%     legend('$I_{PhY}$','Interpreter','latex','FontSize',14)
+%     legend('$I_{PhY}$','Interpreter','latex','FontSize',26)
 %     subplot(1,3,3)
 %     semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est.P_t(16,16,1:end-1)))),'LineWidth',1);
 %     grid on;
 %     hold on;
     corr_label{end+1} = ['$I_{PhZ}$'];
 %     xlabel('time $[hour]$')
-%     legend('$I_{PhZ}$','Interpreter','latex','FontSize',14)
+%     legend('$I_{PhZ}$','Interpreter','latex','FontSize',26)
 
  
 %--------------------------------------------------------------------------
@@ -799,14 +822,14 @@ if size(Est.X_t,1) == 20
         hold on;
         semilogy(t_obs(1:end-1)/3600,err_Css(1,1:end-1),'*','Color','b');
         xlabel('time $[hour]$')
-        legend('$C_{20}$','Interpreter','latex','FontSize',14)
+        legend('$C_{20}$','Interpreter','latex','FontSize',26)
         subplot(1,2,2)
         semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22)),'LineWidth',1,'Color','r');
         grid on;
         hold on;
         semilogy(t_obs(1:end-1)/3600,err_Css(2,1:end-1),'*','Color','r');
         xlabel('time $[hour]$')
-        legend('$C_{22}$','Interpreter','latex','FontSize',14)
+        legend('$C_{22}$','Interpreter','latex','FontSize',26)
     
     
         figure()
@@ -816,21 +839,21 @@ if size(Est.X_t,1) == 20
         hold on;
         semilogy(t_obs(1:end-1)/3600,abs(Est.X_t(13,1:end-1)-pars.I2(1)),'*','Color','b');
         xlabel('time $[hour]$')
-        legend('$I_{PhX}$','Interpreter','latex','FontSize',14)
+        legend('$I_{PhX}$','Interpreter','latex','FontSize',26)
         subplot(1,3,2)
         semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est.P_t(14,14,1:end-1)))),'LineWidth',1,'Color','r');
         grid on;
         hold on;
         semilogy(t_obs(1:end-1)/3600,abs(Est.X_t(14,1:end-1)-pars.I2(2)),'*','Color','r');
         xlabel('time $[hour]$')
-        legend('$I_{PhY}$','Interpreter','latex','FontSize',14)
+        legend('$I_{PhY}$','Interpreter','latex','FontSize',26)
         subplot(1,3,3)
         semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est.P_t(15,15,1:end-1)))),'LineWidth',1,'Color','g');
         grid on;
         hold on;
         semilogy(t_obs(1:end-1)/3600,abs(Est.X_t(15,1:end-1)-pars.I2(3)),'*','Color','g');
         xlabel('time $[hour]$')
-        legend('$I_{PhZ}$','Interpreter','latex','FontSize',14)
+        legend('$I_{PhZ}$','Interpreter','latex','FontSize',26)
     
     else
     
@@ -840,13 +863,13 @@ if size(Est.X_t,1) == 20
         grid on;
         hold on;
         xlabel('time $[hour]$')
-        legend('$C_{20}$','Interpreter','latex','FontSize',14)
+        legend('$C_{20}$','Interpreter','latex','FontSize',26)
         subplot(1,2,2)
         semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22)),'LineWidth',1,'Color','r');
         grid on;
         hold on;
         xlabel('time $[hour]$')
-        legend('$C_{22}$','Interpreter','latex','FontSize',14)
+        legend('$C_{22}$','Interpreter','latex','FontSize',26)
     
         
     end
@@ -879,14 +902,14 @@ else
         hold on;
         semilogy(t_obs(1:end-1)/3600,err_Css(1,1:end-1),'*','Color','b');
         xlabel('time $[hour]$')
-        legend('$C_{20}$','Interpreter','latex','FontSize',14)
+        legend('$C_{20}$','Interpreter','latex','FontSize',26)
         subplot(1,2,2)
         semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22)),'LineWidth',1,'Color','r');
         grid on;
         hold on;
         semilogy(t_obs(1:end-1)/3600,err_Css(2,1:end-1),'*','Color','r');
         xlabel('time $[hour]$')
-        legend('$C_{22}$','Interpreter','latex','FontSize',14)
+        legend('$C_{22}$','Interpreter','latex','FontSize',26)
     
     
         figure()
@@ -896,21 +919,21 @@ else
         hold on;
         semilogy(t_obs(1:end-1)/3600,abs(Est.X_t(15,1:end-1)-pars.I2(1)),'*','Color','b');
         xlabel('time $[hour]$')
-        legend('$I_{PhX}$','Interpreter','latex','FontSize',14)
+        legend('$I_{PhX}$','Interpreter','latex','FontSize',26)
         subplot(1,3,2)
         semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est.P_t(16,16,1:end-1)))),'LineWidth',1,'Color','r');
         grid on;
         hold on;
         semilogy(t_obs(1:end-1)/3600,abs(Est.X_t(16,1:end-1)-pars.I2(2)),'*','Color','r');
         xlabel('time $[hour]$')
-        legend('$I_{PhY}$','Interpreter','latex','FontSize',14)
+        legend('$I_{PhY}$','Interpreter','latex','FontSize',26)
         subplot(1,3,3)
         semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est.P_t(17,17,1:end-1)))),'LineWidth',1,'Color','g');
         grid on;
         hold on;
         semilogy(t_obs(1:end-1)/3600,abs(Est.X_t(17,1:end-1)-pars.I2(3)),'*','Color','g');
         xlabel('time $[hour]$')
-        legend('$I_{PhZ}$','Interpreter','latex','FontSize',14)
+        legend('$I_{PhZ}$','Interpreter','latex','FontSize',26)
     
     else
     
@@ -920,13 +943,13 @@ else
         grid on;
         hold on;
         xlabel('time $[hour]$')
-        legend('$C_{20}$','Interpreter','latex','FontSize',14)
+        legend('$C_{20}$','Interpreter','latex','FontSize',26)
         subplot(1,2,2)
         semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22)),'LineWidth',1,'Color','r');
         grid on;
         hold on;
         xlabel('time $[hour]$')
-        legend('$C_{22}$','Interpreter','latex','FontSize',14)
+        legend('$C_{22}$','Interpreter','latex','FontSize',26)
     
         
     end
@@ -938,21 +961,21 @@ end
 
 %   Correlations coefficients
 
-    [~,corr] = readCovMatrix(real(Est.P));
-
-    figure();
-    imagesc(real(corr))
-    title('Correlation Coefficients','FontSize',16);
-    set(gca,'FontSize',16);
-    colormap(hot);
-    colorbar;
-    set(gca,'TickLabelInterpreter','latex');
-    set(gca,'XTick',(1:size(Est.X,1)));
-    set(gca,'XTickLabel',corr_label);
-    set(gca,'YTick',(1:size(Est.X,1)));
-    set(gca,'YTickLabel',corr_label);
-    axis square;
-    freezeColors;
+    % [~,corr] = readCovMatrix(real(Est.P));
+    % 
+    % figure();
+    % imagesc(real(corr))
+    % title('Correlation Coefficients','FontSize',16);
+    % set(gca,'FontSize',16);
+    % colormap(hot);
+    % colorbar;
+    % set(gca,'TickLabelInterpreter','latex');
+    % set(gca,'XTick',(1:size(Est.X,1)));
+    % set(gca,'XTickLabel',corr_label);
+    % set(gca,'YTick',(1:size(Est.X,1)));
+    % set(gca,'YTickLabel',corr_label);
+    % axis square;
+    % freezeColors;
 
 
 end
\ No newline at end of file
diff --git a/YObs.mat b/YObs.mat
index 93a5fc8823facdb279a5715a13c2379dd64dae15..c67140bb505a949fa5225d3554934badb37ebc20 100644
Binary files a/YObs.mat and b/YObs.mat differ
diff --git a/visible_features_model.m b/visible_features_model.m
index 61e08897de5d62de9da9c57248603f84260848d8..8bf7cb87ae55b349d37618e9f029f81d4f7db821 100644
--- a/visible_features_model.m
+++ b/visible_features_model.m
@@ -105,11 +105,11 @@ function [Y_LOS, Y_pix] = visible_features_model(MMX, Phobos, Sun, Phi, file_fea
         z_cam  = cross(v, I)/norm(cross(v, I));
         y_cam  = cross(z_cam, I)/norm(cross(z_cam, I));
 
-        angle_feat  = acos(dot(I,-i_feat));
-        angle_sun   = acos(dot(I,r_PhSun));
-
-
-        if (angle_feat<pars.FOV)&&(angle_sun>pars.FOV)&&(dot(r_sb_Ph, point_in_light(1:3,n))>0)
+        % angle_feat  = acos(dot(I,-i_feat));
+        % angle_sun   = acos(dot(I,r_PhSun));
+        % 
+        % 
+        % if (angle_feat<pars.FOV)&&(angle_sun>pars.FOV)&&(dot(r_sb_Ph, point_in_light(1:3,n))>0)
             k           = 1;
             visible     = [candidate, visible];
             LOS_feat    = [y_cam'; z_cam'] * r_sf/norm(r_sf) + [random('Normal',0, pars.ObsNoise.camera);...
@@ -121,7 +121,7 @@ function [Y_LOS, Y_pix] = visible_features_model(MMX, Phobos, Sun, Phi, file_fea
             pix_feat    = pix_feat./repmat(pix_feat(3),3,1);
             Y_pix = [[pix_feat(1:2); point_in_light(end,n)], Y_pix];
 
-        end
+        % end
     end