diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..705eae40566d6d4ac6b7d1a60f06d32b6696da84
Binary files /dev/null and b/.DS_Store differ
diff --git a/Analisys_With_Features.m b/Analisys_With_Features.m
index ecd34d8961c67019e8d1b70697e3469f6487148f..db25ec81ca8ae9989f821f71c2f0daee513f3cc4 100644
--- a/Analisys_With_Features.m
+++ b/Analisys_With_Features.m
@@ -22,6 +22,8 @@ clc
     cspice_furnsh(which('mar097.bsp'));
     cspice_furnsh(which('MARPHOFRZ.txt'));
     cspice_furnsh(which('MMX_QSO_031_2x2_826891269_828619269.bsp'));
+%     cspice_furnsh(which('MMX_3DQSO_031_009_2x2_826891269_828619269.bsp'));
+%     cspice_furnsh(which('MMX_SwingQSO_031_011_2x2_826891269_828619269.bsp'));
     cspice_furnsh(which('Phobos_826891269_828619269.bsp'));
 
 
@@ -64,7 +66,7 @@ clc
 
 %%  Analysis
 
-    par.alpha = 1;
+    par.alpha = 7e-1;
     par.beta  = 2;
     file_features = 'Principal_Phobos_Ogni10.mat';
 
@@ -91,5 +93,6 @@ clc
 
 
     Results(Est, YObs, par, units)
-
+    
+    save('./Results/SwingQSOLb_9days_AllObs_alpha7e1.mat', 'Est')
 
diff --git a/Observations_Generation.m b/Observations_Generation.m
index c8ed5e66f3df172842fb86525f5bf683df6cf8d6..94423f6ab32a92d5c03a701b6a83484680a0704c 100644
--- a/Observations_Generation.m
+++ b/Observations_Generation.m
@@ -20,7 +20,9 @@ clc
     MMX_InitializeSPICE
     cspice_furnsh(which('mar097.bsp'));
     cspice_furnsh(which('MARPHOFRZ.txt'));
-    cspice_furnsh(which('MMX_QSO_031_2x2_826891269_828619269.bsp'));
+%     cspice_furnsh(which('MMX_QSO_031_2x2_826891269_828619269.bsp'));
+%     cspice_furnsh(which('MMX_3DQSO_031_009_2x2_826891269_828619269.bsp'));
+    cspice_furnsh(which('MMX_SwingQSO_031_011_2x2_826891269_828619269.bsp'));
     cspice_furnsh(which('Phobos_826891269_828619269.bsp'));
     
 %%  Initial conditions per la analisi
@@ -28,7 +30,7 @@ clc
 %   Time of the analysis
     data        = '2026-03-16 00:00:00 (UTC)';
     data        = cspice_str2et(data);
-    Ndays       = 7;
+    Ndays       = 9;
     t           = Ndays*86400;
     date_end    = data+t;
 
diff --git a/PlotComparison_Nico.m b/PlotComparison_Nico.m
new file mode 100644
index 0000000000000000000000000000000000000000..74b0af6fd35d8ee9205dba589eba03cb43e3b51a
--- /dev/null
+++ b/PlotComparison_Nico.m
@@ -0,0 +1,315 @@
+function PlotComparison_Nico(Est1,Est2,Est3,Est4,Est5,fine, fineCss)
+
+t_obs = Est1.t;
+
+[SQRT_X1, SQRT_V1, P_t_C_20_1, P_t_C_22_1, mean1, std1, meanV1, stdV1,...
+    meanLib1, stdLib1, meanC201, stdC201, meanC221, stdC221] = Envelopes_Plot(Est1, fine, fineCss);
+[SQRT_X2, SQRT_V2, P_t_C_20_2, P_t_C_22_2, mean2, std2, meanV2, stdV2,...
+    meanLib2, stdLib2, meanC202, stdC202, meanC222, stdC222] = Envelopes_Plot(Est2, fine, fineCss);
+[SQRT_X3, SQRT_V3, P_t_C_20_3, P_t_C_22_3, mean3, std3, meanV3, stdV3,...
+    meanLib3, stdLib3, ~, stdC203, meanC223, stdC223] = Envelopes_Plot(Est3, fine, fineCss);
+[SQRT_X4, SQRT_V4, P_t_C_20_4, P_t_C_22_4, mean4, std4, meanV4, stdV4,...
+    meanLib4, stdLib4, meanC204, stdC204, meanC224, stdC224] = Envelopes_Plot(Est4, fine, fineCss);
+[SQRT_X5, SQRT_V5, P_t_C_20_5, P_t_C_22_5, mean5, std5, meanV5,...
+    stdV5, meanLib5, stdLib5, meanC205, stdC205, meanC225, stdC225] = Envelopes_Plot(Est5, fine, fineCss);
+
+figure()
+subplot(1,2,1)
+semilogy(t_obs(1:end-1)/3600,SQRT_X1,'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,SQRT_X2,'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,SQRT_X3,'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,SQRT_X4,'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,SQRT_X5,'LineWidth',1.2)
+title('Position vector $3\sigma$ RMS','FontSize',30)
+xlabel('Time $[hour]$','Fontsize',26)
+ylabel('$[km]$','Fontsize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+subplot(1,2,2)
+semilogy(t_obs(1:end-1)/3600,SQRT_V1,'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,SQRT_V2,'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,SQRT_V3,'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,SQRT_V4,'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,SQRT_V5,'LineWidth',1.2)
+title('Velocity vector $3\sigma$ RMS','FontSize',30)
+xlabel('Time $[hour]$','Fontsize',26)
+ylabel('$[km/s]$','Fontsize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+
+figure()
+subplot(1,2,1)
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_20_1)),'LineWidth',1.2);
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_20_2)),'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_20_3)),'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_20_4)),'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_20_5)),'LineWidth',1.2);
+xlabel('Time $[hour]$','Fontsize',26)
+ylabel('$C_{20}$','Fontsize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+subplot(1,2,2)
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22_1)),'LineWidth',1.2);
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22_2)),'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22_3)),'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22_4)),'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22_5)),'LineWidth',1.2);
+xlabel('Time $[hour]$','Fontsize',26)
+ylabel('$C_{22}$','Fontsize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+
+
+figure()
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est1.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est2.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est4.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est5.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+title('Libration angle $3\sigma$ envelopes','Interpreter','latex','Fontsize',30)
+xlabel('Time [hour]', 'Interpreter','latex','Fontsize',26)
+ylabel('$\Phi_{Ph}$ [deg]', 'Interpreter','latex','Fontsize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+
+% Phobos & Mars states
+
+% figure()
+% subplot(2,4,1)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est7.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est8.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est9.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est10.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+% xlabel('Time [hour]')
+% ylabel('$R_{Ph}$ [km]')
+% subplot(2,4,2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est7.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est8.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est9.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est10.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+% xlabel('Time [hour]')
+% ylabel('$\theta_{Ph}$ [deg]')
+% subplot(2,4,3)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(11,11,1:end-1)))),'LineWidth',1.2)
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est7.P_t(11,11,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est8.P_t(11,11,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est9.P_t(11,11,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est10.P_t(11,11,1:end-1)))),'LineWidth',1.2)
+% xlabel('Time [hour]')
+% ylabel('$\Phi_{M}$ [deg]')
+% subplot(2,4,4)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est7.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est8.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est9.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est10.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+% xlabel('Time [hour]')
+% ylabel('$\Phi_{Ph}$ [deg]')
+% 
+% subplot(2,4,5)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est7.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est8.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est9.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est10.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+% xlabel('Time [hour]')
+% ylabel('$\dot{R}_{Ph}$ [km/s]')
+% subplot(2,4,6)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est7.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est8.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est9.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est10.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+% xlabel('Time [hour]')
+% ylabel('$\dot{\theta}_{Ph}$ [deg/s]')
+% subplot(2,4,7)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(12,12,1:end-1)))),'LineWidth',1.2)
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est7.P_t(12,12,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est8.P_t(12,12,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est9.P_t(12,12,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est10.P_t(12,12,1:end-1)))),'LineWidth',1.2)
+% xlabel('Time [hour]')
+% ylabel('$\dot{\Phi}_{M}$ [deg/s]')
+% subplot(2,4,8)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est7.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est8.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est9.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est10.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+% xlabel('Time [hour]')
+% ylabel('$\dot{\Phi}_{Ph}$ [deg/s]')
+
+% Phobos states withoutMars
+
+figure()
+subplot(2,3,1)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est1.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est2.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est4.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est5.P_t(7,7,1:end-1)))),'LineWidth',1.2)
+xlabel('Time [hour]','FontSize',26)
+ylabel('$r_{Ph}$ [km]','FontSize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',20)
+subplot(2,3,2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est1.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est2.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est4.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est5.P_t(9,9,1:end-1)))),'LineWidth',1.2)
+xlabel('Time [hour]','FontSize',26)
+ylabel('$\theta_{Ph}$ [deg]','FontSize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',20)
+subplot(2,3,3)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est1.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est2.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est4.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est5.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+xlabel('Time [hour]','FontSize',26)
+ylabel('$\Phi_{Ph}$ [deg]','FontSize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',20)
+
+subplot(2,3,4)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est1.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est2.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est4.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est5.P_t(8,8,1:end-1)))),'LineWidth',1.2)
+xlabel('Time [hour]','FontSize',26)
+ylabel('$\dot{r}_{Ph}$ [km/s]','FontSize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',20)
+subplot(2,3,5)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est1.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est2.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est4.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est5.P_t(10,10,1:end-1)))),'LineWidth',1.2)
+xlabel('Time [hour]','FontSize',26)
+ylabel('$\dot{\theta}_{Ph}$ [deg/s]','FontSize',26)
+legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',20)
+subplot(2,3,6)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est1.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est2.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est4.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est5.P_t(14,14,1:end-1)))),'LineWidth',1.2)
+xlabel('Time [hour]','FontSize',26)
+ylabel('$\dot{\Phi}_{Ph}$ [deg/s]','FontSize',26)
+legend('NoCam','NoLidar','NoRate','All','All', 'Interpreter','latex','Fontsize',20)
+
+
+% Moments of inertia
+
+% figure()
+% subplot(2,3,1)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est1.P_t(15,15,1:end-1)))),'LineWidth',1);
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est2.P_t(15,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3.P_t(15,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est4.P_t(15,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est5.P_t(15,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(15,15,1:end-1)))),'LineWidth',1);
+% xlabel('time $[hour]$')
+% ylabel('$I_{PhX}$')
+% legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+% subplot(2,3,2)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est1.P_t(16,16,1:end-1)))),'LineWidth',1);
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est2.P_t(16,16,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3.P_t(16,16,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est4.P_t(16,16,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est5.P_t(16,16,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(16,16,1:end-1)))),'LineWidth',1);
+% xlabel('time $[hour]$')
+% ylabel('$I_{PhY}$')
+% legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+% subplot(2,3,3)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est1.P_t(17,17,1:end-1)))),'LineWidth',1);
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est2.P_t(17,17,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3.P_t(17,17,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est4.P_t(17,17,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est5.P_t(17,17,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(17,17,1:end-1)))),'LineWidth',1);
+% xlabel('time $[hour]$')
+% ylabel('$I_{PhZ}$')
+% legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+% subplot(2,3,4)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est1.P_t(16,15,1:end-1)))),'LineWidth',1);
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est2.P_t(16,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3.P_t(16,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est4.P_t(16,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est5.P_t(16,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(16,15,1:end-1)))),'LineWidth',1);
+% xlabel('time $[hour]$')
+% ylabel('$C_{I_{PhX}I_{PhY}}$')
+% legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+% subplot(2,3,5)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est1.P_t(17,15,1:end-1)))),'LineWidth',1);
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est2.P_t(17,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3.P_t(17,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est4.P_t(17,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est5.P_t(17,15,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(17,15,1:end-1)))),'LineWidth',1);
+% xlabel('time $[hour]$')
+% ylabel('$C_{I_{PhX}I_{PhZ}}$')
+% legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+% subplot(2,3,6)
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est1.P_t(17,16,1:end-1)))),'LineWidth',1);
+% grid on;
+% hold on;
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est2.P_t(17,16,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3.P_t(17,16,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est4.P_t(17,16,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est5.P_t(17,16,1:end-1)))),'LineWidth',1);
+% semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est6.P_t(17,16,1:end-1)))),'LineWidth',1);
+% xlabel('time $[hour]$')
+% ylabel('$C_{I_{PhY}I_{PhZ}}$')
+% legend('All','NoRange','NoRate','NoLidar','NoCam', 'Interpreter','latex','Fontsize',26)
+
+
+
+end
\ No newline at end of file
diff --git a/Plot_Nico.m b/Plot_Nico.m
new file mode 100644
index 0000000000000000000000000000000000000000..013a6a80cdeedefc6bc2337758f92b6f788139bc
--- /dev/null
+++ b/Plot_Nico.m
@@ -0,0 +1,558 @@
+clear
+close all
+clc
+
+restoredefaultpath
+addpath('./Results/');
+addpath('../useful_functions/');
+addpath(genpath('../mice/'));
+addpath(genpath('../generic_kernels/'));
+addpath('../paper');
+addpath('../paper/MMX_Fcn_CovarianceAnalyses/');
+MMX_InitializeSPICE
+cspice_furnsh(which('mar097.bsp'));
+set(0,'DefaultTextInterpreter','latex');
+set(0,'DefaultAxesFontSize', 16);
+
+
+
+%% Confronto altezze
+
+name10   = 'QSOH_6days_allObs.mat';
+load(name10);
+Est10    = Est;
+name9   = 'QSOM_6days_allObs.mat';
+load(name9);
+Est9    = Est;
+name8   = 'QSOLa_6days_allObs.mat';
+load(name8);
+Est8    = Est;
+name7   = 'QSOLb_6days_allObs_alpha9e1.mat';
+load(name7);
+Est7    = Est;
+name6  = 'QSOLc_6days_allObs_alpha7e1.mat';
+load(name6);
+Est6   = Est;
+
+t_obs   = Est6.t(1,:);
+coeff   = 0.8;
+fine    = round(coeff*size(t_obs,2));
+fineCss = round(coeff*size(t_obs,2));
+
+% Con Process noice
+
+[SQRT_X6, SQRT_V6, P_t_C_20_6, P_t_C_22_6, mean6, std6, meanV6, stdV6,...
+    meanLib6, stdLib6, meanC206, stdC206, meanC226, stdC226] = Envelopes_Plot(Est6, fine, fineCss);
+[SQRT_X7, SQRT_V7, P_t_C_20_7, P_t_C_22_7, mean7, std7, meanV7, stdV7,...
+    meanLib7, stdLib7, meanC207, stdC207, meanC227, stdC227] = Envelopes_Plot(Est7, fine, fineCss);
+[SQRT_X8, SQRT_V8, P_t_C_20_8, P_t_C_22_8, mean8, std8, meanV8, stdV8,...
+    meanLib8, stdLib8, meanC208, stdC208, meanC228, stdC228] = Envelopes_Plot(Est8, fine, fineCss);
+[SQRT_X9, SQRT_V9, P_t_C_20_9, P_t_C_22_9, mean9, std9, meanV9, stdV9,...
+    meanLib9, stdLib9, meanC209, stdC209, meanC229, stdC229] = Envelopes_Plot(Est9, fine, fineCss);
+[SQRT_X10, SQRT_V10, P_t_C_20_10, P_t_C_22_10, mean10, std10, meanV10,...
+    stdV10, meanLib10, stdLib10, meanC2010, stdC2010, meanC2210, stdC2210] = Envelopes_Plot(Est10, fine, fineCss);
+
+
+
+PlotComparison(Est10, Est9, Est8, Est7, Est6, fine, fineCss);
+
+
+%% Confronto osservabili sulla M
+
+name5  = 'QSOM_6days_allObs.mat';
+load(name5);
+Est5   = Est;
+name4   = 'QSOM_6days_NoRange.mat';
+load(name4);
+Est4    = Est;
+name3   = 'QSOM_6days_NoRate.mat';
+load(name3);
+Est3    = Est;
+name2   = 'QSOM_6days_NoLidar.mat';
+load(name2);
+Est2    = Est;
+name1   = 'QSOM_6days_NoCam.mat';
+load(name1);
+Est1    = Est;
+
+t_obs1 = Est1.t(1,:);
+fine1    = round(coeff*size(t_obs1,2));
+fineCss1 = round(coeff*size(t_obs1,2));
+
+[SQRT_X1, SQRT_V1, P_t_C_20_1, P_t_C_22_1, mean1, std1, meanV1, stdV1,...
+    meanLib1, stdLib1, meanC201, stdC201, meanC221, stdC221] = Envelopes_Plot(Est1, fine1, fineCss1);
+[SQRT_X2, SQRT_V2, P_t_C_20_2, P_t_C_22_2, mean2, std2, meanV2, stdV2,...
+    meanLib2, stdLib2, meanC202, stdC202, meanC222, stdC222] = Envelopes_Plot(Est2, fine1, fineCss1);
+[SQRT_X3, SQRT_V3, P_t_C_20_3, P_t_C_22_3, mean3, std3, meanV3, stdV3,...
+    meanLib3, stdLib3, meanC203, stdC203, meanC223, stdC223] = Envelopes_Plot(Est3, fine1, fineCss1);
+[SQRT_X4, SQRT_V4, P_t_C_20_4, P_t_C_22_4, mean4, std4, meanV4, stdV4,...
+    meanLib4, stdLib4, meanC204, stdC204, meanC224, stdC224] = Envelopes_Plot(Est4, fine1, fineCss1);
+[SQRT_X5, SQRT_V5, P_t_C_20_5, P_t_C_22_5, mean5, std5, meanV5,...
+    stdV5, meanLib5, stdLib5, meanC205, stdC205, meanC225, stdC225] = Envelopes_Plot(Est5, fine1, fineCss1);
+
+
+ PlotComparison_Nico(Est5, Est4, Est3, Est2, Est1, fine, fineCss);
+
+
+%% Confronto osservabili sulla La
+
+name15   = 'QSOLa_6days_allObs.mat';
+load(name15);
+Est15   = Est;
+name14   = 'QSOLa_6days_NoRange.mat';
+load(name14);
+Est14    = Est;
+name13   = 'QSOLa_6days_NoRate.mat';
+load(name13);
+Est13    = Est;
+name12   = 'QSOLa_6days_NoLidar.mat';
+load(name12);
+Est12    = Est;
+name11   = 'QSOLa_6days_NoCam.mat';
+load(name11);
+Est11    = Est;
+
+
+[SQRT_X11, SQRT_V11, P_t_C_20_11, P_t_C_22_11, mean11, std11, meanV11, stdV11,...
+    meanLib11, stdLib11, meanC2011, stdC2011, meanC2211, stdC2211] = Envelopes_Plot(Est11, fine1, fineCss1);
+[SQRT_X12, SQRT_V12, P_t_C_20_12, P_t_C_22_12, mean12, std12, meanV12, stdV12,...
+    meanLib12, stdLib12, meanC2012, stdC2012, meanC2212, stdC2212] = Envelopes_Plot(Est12, fine1, fineCss1);
+[SQRT_X13, SQRT_V13, P_t_C_20_13, P_t_C_22_13, mean13, std13, meanV13, stdV13,...
+    meanLib13, stdLib13, meanC2013, stdC2013, meanC2213, stdC2213] = Envelopes_Plot(Est13, fine1, fineCss1);
+[SQRT_X14, SQRT_V14, P_t_C_20_14, P_t_C_22_14, mean14, std14, meanV14, stdV14,...
+    meanLib14, stdLib14, meanC2014, stdC2014, meanC2214, stdC2214] = Envelopes_Plot(Est14, fine1, fineCss1);
+[SQRT_X15, SQRT_V15, P_t_C_20_15, P_t_C_22_15, mean15, std15, meanV15,...
+    stdV15, meanLib15, stdLib15, meanC2015, stdC2015, meanC2215, stdC2215] = Envelopes_Plot(Est15, fine1, fineCss1);
+
+
+PlotComparison_Nico(Est15, Est14, Est13, Est12, Est11, fine1, fineCss1)
+
+%% Recap Osservabili
+
+%   All observables
+
+x       = [49; 94];
+y       = [mean15; mean4];
+ypos    = [std15; std4];
+yneg    = [std15; std4];
+yV      = [meanV15; meanV4];
+yposV   = [stdV15; stdV4];
+ynegV   = [stdV15; stdV4];
+
+xC20    = [49; 94];
+yC20    = [meanC2015; meanC204];
+yposC20 = [stdC2015; stdC204];
+ynegC20 = [stdC2015; stdC204];
+yC22    = [meanC2215; meanC225];
+yposC22 = [stdC2215; stdC225];
+ynegC22 = [stdC2215; stdC225];
+
+xLib    = [49; 94];
+yLib       = [meanLib12; meanLib2].*180/pi;
+yposLib    = [stdLib12; stdLib2].*180/pi;
+ynegLib    = [stdLib12; stdLib2].*180/pi;
+
+% No range
+
+xNorho       = [49; 94];
+yNorho       = [mean14; mean4];
+yposNorho    = [std14; std4];
+ynegNorho    = [std14; std4];
+yVNorho      = [meanV14; meanV2];
+yposVNorho   = [stdV14; stdV2];
+ynegVNorho   = [stdV14; stdV2];
+
+xC20Norho    = [49; 94];
+yC20Norho    = [meanC2014; meanC204];
+yposC20Norho = [stdC2014; stdC204];
+ynegC20Norho = [stdC2014; stdC204];
+yC22Norho    = [meanC2214; meanC224];
+yposC22Norho = [stdC2214; stdC224];
+ynegC22Norho = [stdC2214; stdC224];
+
+xLib_Norho    = [49; 94];
+yLib_Norho       = [meanLib14; meanLib4].*180/pi;
+yposLib_Norho    = [stdLib14; stdLib4].*180/pi;
+ynegLib_Norho    = [stdLib14; stdLib4].*180/pi;
+
+% No range-rate
+
+xNorate       = [49; 94];
+yNorate       = [mean13; mean3];
+yposNorate    = [std13; std3];
+ynegNorate    = [std13; std3];
+yVNorate      = [meanV13; meanV3];
+yposVNorate   = [stdV13; stdV3];
+ynegVNorate   = [stdV13; stdV3];
+
+xC20Norate    = [49; 94];
+yC20Norate    = [meanC2013; meanC203];
+yposC20Norate = [stdC2013; stdC203];
+ynegC20Norate = [stdC2013; stdC203];
+yC22Norate    = [meanC2213; meanC223];
+yposC22Norate = [stdC2213; stdC223];
+ynegC22Norate = [stdC2213; stdC223];
+
+xLib_Norate    = [49; 94];
+yLib_Norate       = [meanLib13; meanLib3].*180/pi;
+yposLib_Norate    = [stdLib13; stdLib3].*180/pi;
+ynegLib_Norate    = [stdLib13; stdLib3].*180/pi;
+
+% No Lidar
+
+xNo_lidar       = [49; 94];
+yNo_lidar       = [mean12; mean2];
+yposNo_lidar    = [std12; std2];
+ynegNo_lidar    = [std12; std2];
+yVNo_lidar      = [meanV12; meanV2];
+yposVNo_lidar   = [stdV12; stdV2];
+ynegVNo_lidar   = [stdV12; stdV2];
+
+xC20No_lidar    = [49; 94];
+yC20No_lidar    = [meanC2013; meanC202];
+yposC20No_lidar = [stdC2013; stdC202];
+ynegC20No_lidar = [stdC2013; stdC202];
+yC22No_lidar    = [meanC2212; meanC222];
+yposC22No_lidar = [stdC2212; stdC222];
+ynegC22No_lidar = [stdC2212; stdC222];
+
+xLib_NoLidar    = [49; 94];
+yLib_NoLidar       = [meanLib12; meanLib2].*180/pi;
+yposLib_NoLidar    = [stdLib12; stdLib2].*180/pi;
+ynegLib_NoLidar    = [stdLib12; stdLib2].*180/pi;
+
+
+% No Camera
+
+xNoCam       = [49; 94];
+yNoCam       = [mean11; mean1];
+yposNoCam    = [std11; std1];
+ynegNoCam    = [std11; std1];
+yVNoCam      = [meanV11; meanV1];
+yposVNoCam   = [stdV11; stdV1];
+ynegVNoCam   = [stdV11; stdV1];
+
+xC20NoCam    = [49; 94];
+yC20NoCam    = [meanC2011; meanC201];
+yposC20NoCam = [stdC2011; stdC201];
+ynegC20NoCam = [stdC2011; stdC201];
+yC22NoCam    = [meanC2211; meanC222];
+yposC22NoCam = [stdC2211; stdC222];
+ynegC22NoCam = [stdC2211; stdC222];
+
+xLib_NoCam    = [49; 94];
+yLib_NoCam       = [meanLib11; meanLib1].*180/pi;
+yposLib_NoCam    = [stdLib11; stdLib1].*180/pi;
+ynegLib_NoCam    = [stdLib11; stdLib1].*180/pi;
+
+labels = {'$QSO-La$','$QSO-M$'};
+labelsLib = {'$QSO-La$','$QSO-M$'};
+
+figure()
+subplot(1,2,1)
+errorbar(x,y,yneg,ypos,'-s','LineWidth',2.2,'MarkerSize',5)
+hold on
+errorbar(xNorho,yNorho,ynegNorho,yposNorho,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xNorate,yNorate,ynegNorate,yposNorate,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xNo_lidar,yNo_lidar,ynegNo_lidar,yposNo_lidar,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xNoCam,yNoCam,ynegNoCam,yposNoCam,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+set(gca,'YScale','log')
+set(gca,'TickLabelInterpreter','latex')
+set(gca,'XScale','log');
+set(gca,'XTick',[49; 94]);
+set(gca,'XTickLabel',labels,'Fontsize',26);
+set(gca,'XTickLabelRotation',45)
+legend('Full','No $\rho$','No $\dot{\rho}$','No Lidar','No Cam','Interpreter','latex','Fontsize',26)
+ylabel('$[km]$','Fontsize',26)
+xlim([3e1,12e1])
+grid on
+subplot(1,2,2)
+errorbar(x,yV,ynegV,yposV,'-s','LineWidth',2.2,'MarkerSize',5)
+hold on
+errorbar(xNorho,yVNorho,ynegVNorho,yposVNorho,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xNorate,yVNorate,ynegVNorate,yposVNorate,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xNo_lidar,yVNo_lidar,ynegVNo_lidar,yposVNo_lidar,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xNoCam,yVNoCam,ynegVNoCam,yposVNoCam,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+grid on
+set(gca,'YScale','log')
+set(gca,'TickLabelInterpreter','latex')
+set(gca,'XScale','log')
+set(gca,'XTick',[49; 94]);
+set(gca,'XTickLabel',labels,'Fontsize',26);
+set(gca,'XTickLabelRotation',45)
+legend('Full','No $\rho$','No $\dot{\rho}$','No Lidar','No Cam','Interpreter','latex','Fontsize',26)
+ylabel('$[km/s]$','Fontsize',26)
+xlim([3e1,12e1])
+
+% Css
+
+figure()
+subplot(1,2,1)
+errorbar(xC20,yC20,ynegC20,yposC20,'-s','LineWidth',2.2,'MarkerSize',5)
+hold on
+errorbar(xC20Norho,yC20Norho,ynegC20Norho,yposC20Norho,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xC20Norate,yC20Norate,ynegC20Norate,yposC20Norate,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xC20No_lidar,yC20No_lidar,ynegC20No_lidar,yposC20No_lidar,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xC20NoCam,yC20NoCam,ynegC20NoCam,yposC20NoCam,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+set(gca,'YScale','log')
+set(gca,'TickLabelInterpreter','latex')
+set(gca,'XScale','log')
+set(gca,'XTick',[49; 94]);
+set(gca,'XTickLabel',labels,'Fontsize',26);
+set(gca,'XTickLabelRotation',45)
+legend('Full','No $\rho$','No $\dot{\rho}$','No Lidar','No Cam','Interpreter','latex','Fontsize',26)
+ylabel('$3\sigma_{C_{20}}$','Fontsize',30)
+xlim([3e1,12e1])
+grid on
+subplot(1,2,2)
+errorbar(x,yC22,ynegC22,yposC22,'-s','LineWidth',2.2,'MarkerSize',5)
+hold on
+errorbar(xNorho,yC22Norho,ynegC22Norho,yposC22Norho,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xNorate,yC22Norate,ynegC22Norate,yposC22Norate,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xNo_lidar,yC22No_lidar,ynegC22No_lidar,yposC22No_lidar,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+errorbar(xNoCam,yC22NoCam,ynegC22NoCam,yposC22NoCam,'-s',...
+    'LineWidth',1.2,'MarkerSize',5)
+grid on
+set(gca,'YScale','log')
+set(gca,'TickLabelInterpreter','latex')
+set(gca,'XScale','log')
+set(gca,'XTick',[49; 94]);
+set(gca,'XTickLabel',labels,'Fontsize',26);
+set(gca,'XTickLabelRotation',45)
+legend('Full','No $\rho$','No $\dot{\rho}$','No Lidar','No Cam','Interpreter','latex','Fontsize',26)
+ylabel('$3\sigma_{C_{22}}$','Fontsize',30)
+xlim([3e1,12e1])
+
+% Libration
+
+
+figure()
+errorbar(xLib,yLib,ynegLib,yposLib,'-s','LineWidth',2.5,'MarkerSize',5)
+hold on
+errorbar(xLib_Norho,yLib_Norho,ynegLib_Norho,yposLib_Norho,'-s',...
+    'LineWidth',1.5,'MarkerSize',5)
+errorbar(xLib_Norate,yLib_Norate,ynegLib_Norate,yposLib_Norate,'-s',...
+    'LineWidth',1.5,'MarkerSize',5)
+errorbar(xLib_NoLidar,yLib_NoLidar,ynegLib_NoLidar,yposLib_NoLidar,'-s',...
+    'LineWidth',1.5,'MarkerSize',5)
+errorbar(xLib_NoCam,yLib_NoCam,ynegLib_NoCam,yposLib_NoCam,'-s',...
+    'LineWidth',1.5,'MarkerSize',5)
+set(gca,'YScale','log')
+set(gca,'TickLabelInterpreter','latex')
+set(gca,'XScale','log')
+set(gca,'XTick',[49; 94]);
+set(gca,'XTickLabel',labelsLib,'Fontsize',30);
+set(gca,'XTickLabelRotation',45)
+ylabel('$[deg]$','Fontsize',30)
+legend('Full','No $\rho$','No $\dot{\rho}$','No Lidar','No Cam','Interpreter','latex','Fontsize',30)
+xlim([3e1,12e1])
+grid on
+
+
+
+%% Confronto geometrie sulla Lc
+
+% load('QSOLb_9days_allObs_Ogni2Feat_alpha7e1.mat');
+% EstQSO  = Est;
+% load('3DQSOLb_9days_allObs_Ogni2Feat_alpha7e1.mat');
+% Est3D   = Est;
+% load('SwingQSOLb_9days_allObs_Ogni2Feat_alpha7e1.mat');
+% EstSwing = Est;
+
+load('QSOLb_9days_allObs_alpha7e1.mat');
+EstQSO  = Est;
+load('3DQSOLb_9days_allObs_alpha7e1.mat');
+Est3D   = Est;
+load('SwingQSOLb_9days_allObs_alpha7e1.mat');
+EstSwing = Est;
+
+
+coeff = .99;
+t_obs = EstQSO.t(1,:);
+fine    = round(coeff*size(t_obs,2));
+fineCss = round(coeff*size(t_obs,2));
+
+
+[par,~] = MMX_DefineNewModelParametersAndUnits;
+C_20    = par.SH.Clm(3,1);
+C_22    = par.SH.Clm(3,3);
+
+t_obs   = EstQSO.t(1,:);
+
+[SQRT_X_QSO, SQRT_V_QSO, P_t_C_20_QSO, P_t_C_22_QSO, meanQSO, stdQSO, meanVQSO, stdVQSO,...
+    meanLibQSO, stdLibQSO,] = Envelopes_Plot(EstQSO, fine, fineCss);
+[SQRT_X_3D, SQRT_V_3D, P_t_C_20_3D, P_t_C_22_3D, mean3D, std3D, meanV3D, stdV3D,...
+    meanLib3D, stdLib3D] = Envelopes_Plot(Est3D, fine, fineCss);
+[SQRT_X_Swing, SQRT_V_Swing, P_t_C_20_Swing, P_t_C_22_Swing, meanSwing, stdSwing, meanVSwing, stdVSwing,...
+    meanLibSwing, stdLibSwing] = Envelopes_Plot(EstSwing, fine, fineCss);
+
+C_20_QSO_perc= abs(3*real(sqrt(P_t_C_20_QSO))/C_20);
+C_22_QSO_perc= abs(3*real(sqrt(P_t_C_22_QSO))/C_22);
+
+C_20_3D_perc= abs(3*real(sqrt(P_t_C_20_3D))/C_20);
+C_22_3D_perc= abs(3*real(sqrt(P_t_C_22_3D))/C_22);
+
+C_20_Swing_perc= abs(3*real(sqrt(P_t_C_20_Swing))/C_20);
+C_22_Swing_perc= abs(3*real(sqrt(P_t_C_22_Swing))/C_22);
+
+figure()
+subplot(1,2,1)
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_20_QSO)),'LineWidth',1.2);
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_20_3D)),'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_20_Swing)),'LineWidth',1.2);
+xlabel('Time $[hour]$','Fontsize',26)
+ylabel('$3\sigma_{C_{20}}$','Fontsize',30)
+legend('QSO','3D-QSO','Swing-QSO','Interpreter','latex','Fontsize',26)
+subplot(1,2,2)
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22_QSO)),'LineWidth',1.2);
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22_3D)),'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,3.*real(sqrt(P_t_C_22_Swing)),'LineWidth',1.2);
+xlabel('Time $[hour]$','Fontsize',26)
+ylabel('$3\sigma_{C_{22}}$','Fontsize',30)
+legend('QSO','3D-QSO','Swing-QSO','Interpreter','latex','Fontsize',26)
+
+figure()
+subplot(1,2,1)
+semilogy(t_obs(1:end-1)/3600,C_20_QSO_perc,'LineWidth',1.2);
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,C_20_3D_perc,'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,C_20_Swing_perc,'LineWidth',1.2);
+xlabel('Time $[hour]$','Fontsize',26)
+ylabel('%','Fontsize',26)
+legend('QSO','3D-QSO','Swing-QSO','Interpreter','latex','Fontsize',26)
+subplot(1,2,2)
+semilogy(t_obs(1:end-1)/3600,C_22_QSO_perc,'LineWidth',1.2);
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,C_22_3D_perc,'LineWidth',1.2);
+semilogy(t_obs(1:end-1)/3600,C_22_Swing_perc,'LineWidth',1.2);
+xlabel('Time $[hour]$','Fontsize',26)
+ylabel('%','Fontsize',26)
+legend('QSO','3D-QSO','Swing-QSO','Interpreter','latex','Fontsize',26)
+
+
+
+figure()
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstQSO.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3D.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstSwing.P_t(13,13,1:end-1)))),'LineWidth',1.2)
+title('Libration angle $3\sigma$ envelopes','FontSize',26)
+xlabel('Time [hour]','Interpreter','latex','Fontsize',26)
+ylabel('$3\sigma_{\Phi_{Ph}}$ [deg]','Interpreter','latex','Fontsize',30)
+legend('QSO','3D-QSO','Swing-QSO','Interpreter','latex','Fontsize',26)
+
+%   MMX Position and velocity
+
+figure()
+subplot(1,2,1)
+semilogy(t_obs(1:end-1)/3600,SQRT_X_QSO)
+hold on;
+grid on;
+semilogy(t_obs(1:end-1)/3600,SQRT_X_3D)
+semilogy(t_obs(1:end-1)/3600,SQRT_X_Swing)
+xlabel('time $[hour]$')
+ylabel('$[km]$')
+title('MMX position vector $3\sigma$ envelopes','Interpreter','latex','FontSize',16)
+legend('QSO','3D-QSO','Swing-QSO','Interpreter','latex','FontSize',14)
+subplot(1,2,2)
+semilogy(t_obs(1:end-1)/3600,SQRT_V_QSO)
+hold on;
+grid on;
+semilogy(t_obs(1:end-1)/3600,SQRT_V_3D)
+semilogy(t_obs(1:end-1)/3600,SQRT_V_Swing)
+xlabel('time $[hour]$')
+ylabel('$[km/s]$')
+title('MMX velocity vector $3\sigma$ envelopes','Interpreter','latex','FontSize',16)
+legend('QSO','3D-QSO','Swing-QSO','Interpreter','latex','FontSize',14)
+
+% Phobos states
+
+figure()
+subplot(2,4,1)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(EstQSO.P_t(7,7,1:end-1)))))
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3D.P_t(7,7,1:end-1)))))
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(EstSwing.P_t(7,7,1:end-1)))))
+xlabel('time [hour]')
+ylabel('$R_{Ph}$ [km]')
+subplot(2,4,2)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstQSO.P_t(9,9,1:end-1)))))
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3D.P_t(9,9,1:end-1)))))
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstSwing.P_t(9,9,1:end-1)))))
+xlabel('time [hour]')
+ylabel('$\theta_{Ph}$ [deg]')
+subplot(2,4,3)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstQSO.P_t(11,11,1:end-1)))))
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3D.P_t(11,11,1:end-1)))))
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstSwing.P_t(11,11,1:end-1)))))
+xlabel('time [hour]')
+ylabel('$\Phi_{M}$ [deg]')
+subplot(2,4,4)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstQSO.P_t(13,13,1:end-1)))))
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3D.P_t(13,13,1:end-1)))))
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstSwing.P_t(13,13,1:end-1)))))
+xlabel('time [hour]')
+ylabel('$\Phi_{Ph}$ [deg]')
+
+subplot(2,4,5)
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(EstQSO.P_t(8,8,1:end-1)))))
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(Est3D.P_t(8,8,1:end-1)))))
+semilogy(t_obs(1:end-1)/3600,3.*squeeze(real(sqrt(EstSwing.P_t(8,8,1:end-1)))))
+xlabel('time [hour]')
+ylabel('$\dot{R}_{Ph}$ [km/s]')
+subplot(2,4,6)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstQSO.P_t(10,10,1:end-1)))))
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3D.P_t(10,10,1:end-1)))))
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstSwing.P_t(10,10,1:end-1)))))
+xlabel('time [hour]')
+ylabel('$\dot{\theta}_{Ph}$ [deg/s]')
+subplot(2,4,7)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstQSO.P_t(12,12,1:end-1)))))
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3D.P_t(12,12,1:end-1)))))
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstSwing.P_t(12,12,1:end-1)))))
+xlabel('time [hour]')
+ylabel('$\dot{\Phi}_{M}$ [deg/s]')
+subplot(2,4,8)
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstQSO.P_t(14,14,1:end-1)))))
+grid on;
+hold on;
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(Est3D.P_t(14,14,1:end-1)))))
+semilogy(t_obs(1:end-1)/3600,180/pi*3.*squeeze(real(sqrt(EstSwing.P_t(14,14,1:end-1)))))
+xlabel('time [hour]')
+ylabel('$\dot{\Phi}_{Ph}$ [deg/s]')
+
diff --git a/Results/3DQSOLb_6days_allObs.mat b/Results/3DQSOLb_6days_allObs.mat
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diff --git a/Results/QSOLc_6days_AllObs_alpha7e1.mat b/Results/QSOLc_6days_AllObs_alpha7e1.mat
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diff --git a/Results/QSOM_6days_NoCam.mat b/Results/QSOM_6days_NoCam.mat
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diff --git a/Results/QSOM_6days_NoLidar.mat b/Results/QSOM_6days_NoLidar.mat
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diff --git a/Results/QSOM_6days_NoRange.mat b/Results/QSOM_6days_NoRange.mat
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diff --git a/Results/QSOM_6days_NoRate.mat b/Results/QSOM_6days_NoRate.mat
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diff --git a/Results/QSOM_6days_allObs.mat b/Results/QSOM_6days_allObs.mat
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diff --git a/Results/SwingQSOLb_6days_allObs.mat b/Results/SwingQSOLb_6days_allObs.mat
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diff --git a/Results/SwingQSOLb_9days_AllObs_Ogni2Feat_alpha7e1.mat b/Results/SwingQSOLb_9days_AllObs_Ogni2Feat_alpha7e1.mat
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diff --git a/Results/SwingQSOLb_9days_allObs_Ogni2Feat.mat b/Results/SwingQSOLb_9days_allObs_Ogni2Feat.mat
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diff --git a/YObs.mat b/YObs.mat
index d1e9da904da9dbdf17fdcb11b028565ac9cdf338..2738a7471dd0493e57c65e3f7597b07652165db2 100644
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diff --git a/visible_features.m b/visible_features.m
index 2114a2516daf1eb0c4d37eaf5d1a63bafb1c67d4..0f584e6700e56a6f17f8cb56803d9e669786059a 100644
--- a/visible_features.m
+++ b/visible_features.m
@@ -100,7 +100,7 @@ function [Y_LOS, Y_pix] = visible_features(MMX, Phobos, Sun, Phi, file_features,
             [~, ~, PM]  = ProjMatrix(-r_sb_Ph, pars, units);
             pix_feat    = PM*[-candidate; 1];
             pix_feat    = pix_feat./repmat(pix_feat(3),3,1);
-            Y_pix = [[ceil(pix_feat(1:2)+ [random('Normal',0, pars.ObsNoise.pixel);...
+            Y_pix = [[round(pix_feat(1:2)+ [random('Normal',0, pars.ObsNoise.pixel);...
                 random('Normal',0, pars.ObsNoise.pixel)]); point_in_light(end,n)], Y_pix];
 
         end