function X = real_marker(X_hat,dP)
%UNTITLED2 Summary of this function goes here
%   Detailed explanation goes here
X=zeros(3,size(X_hat,2));

for i=1:size(X_hat,2)
    X(:,i)=X_hat(:,i)+sqrt(dP(i))*randn(3,1);
end

end

