Add Kalman innovation diagnostics

[FlorianPfaff]

Summary

• Add linear_gaussian_innovation(...) for backend-native linear Gaussian innovation diagnostics.
• Expose KalmanFilter.innovation_linear(...) and KalmanFilter.normalized_innovation_squared_linear(...) without changing update behavior.
• Add a focused Kalman NIS smoke test that checks the innovation, innovation covariance, NIS value, and that diagnostics do not mutate state.

Validation

Not run locally in this environment.

[github-actions]

Test Results

     7 files  +     7       7 suites  +7   1h 0m 29s ⏱️ + 1h 0m 29s
 1 510 tests + 1 510   1 509 ✅ + 1 509    1 💤 +  1  0 ❌ ±0 
10 906 runs  +10 906  10 103 ✅ +10 103  803 💤 +803  0 ❌ ±0 

Results for commit bffa342. ± Comparison against base commit beeb334.

♻️ This comment has been updated with latest results.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	18.41s
✅ JSON	prettier	2	0	0	0	0.44s
✅ JSON	v8r	2		0	0	2.53s
✅ MARKDOWN	markdownlint	28	0	0	0	1.3s
✅ MARKDOWN	markdown-table-formatter	28	0	0	0	0.32s
✅ PYTHON	bandit	508		0	0	7.28s
✅ PYTHON	black	508	0	0	0	10.6s
✅ PYTHON	flake8	508		0	0	3.98s
✅ PYTHON	isort	508	0	0	0	0.88s
✅ PYTHON	mypy	508		0	0	5.78s
✅ PYTHON	pylint	508		0	0	107.62s
✅ PYTHON	ruff	508	0	0	0	0.08s
✅ REPOSITORY	checkov	yes		no	no	21.71s
✅ REPOSITORY	gitleaks	yes		no	no	10.05s
✅ REPOSITORY	git_diff	yes		no	no	0.05s
✅ REPOSITORY	secretlint	yes		no	no	8.8s
✅ REPOSITORY	syft	yes		no	no	2.59s
✅ REPOSITORY	trivy-sbom	yes		no	no	3.36s
✅ REPOSITORY	trufflehog	yes		no	no	20.28s
✅ YAML	prettier	5	0	0	0	0.48s
✅ YAML	v8r	5		0	0	4.61s
✅ YAML	yamllint	5		0	0	0.45s

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