Add velocity-aided MEM-QKF tracker

[FlorianPfaff]

Summary

• adds VelocityAidedMEMQKFTracker, a soft velocity-heading pseudo-measurement variant of MEM-QKF
• uses an axial residual so theta and theta + pi represent the same ellipse orientation
• computes heading uncertainty from velocity covariance via the delta method, with configurable heading noise and speed gating
• adds focused tests for soft-not-locked behavior, axial periodicity, stationary gating, and update validity

Notes

This is distinct from the existing velocity-aligned / velocity-locked MEM-QKF tracker: it fuses velocity heading softly instead of overwriting orientation.

Validation

• python -m py_compile /mnt/data/velocity_aided_mem_qkf_tracker.py /mnt/data/test_velocity_aided_mem_qkf_tracker.py

I did not run the full PyRecEst test suite in this environment.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	38.69s
✅ JSON	prettier	2	0	0	0	0.44s
✅ JSON	v8r	2		0	0	2.46s
✅ MARKDOWN	markdownlint	28	0	0	0	1.34s
✅ MARKDOWN	markdown-table-formatter	28	0	0	0	0.34s
✅ PYTHON	bandit	540		0	0	9.05s
✅ PYTHON	black	540	2	0	0	14.26s
✅ PYTHON	flake8	540		0	0	5.15s
✅ PYTHON	isort	540	3	0	0	0.99s
✅ PYTHON	mypy	540		0	0	7.05s
✅ PYTHON	pylint	540		0	0	123.9s
✅ PYTHON	ruff	540	3	0	0	0.1s
✅ REPOSITORY	checkov	yes		no	no	20.37s
✅ REPOSITORY	gitleaks	yes		no	no	9.69s
✅ REPOSITORY	git_diff	yes		no	no	0.07s
✅ REPOSITORY	secretlint	yes		no	no	9.41s
✅ REPOSITORY	syft	yes		no	no	2.09s
✅ REPOSITORY	trivy-sbom	yes		no	no	3.92s
✅ REPOSITORY	trufflehog	yes		no	no	21.72s
✅ YAML	prettier	5	0	0	0	0.55s
✅ YAML	v8r	5		0	0	5.04s
✅ YAML	yamllint	5		0	0	0.53s

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[github-actions]

Test Results

    12 files  ± 0      12 suites  ±0   2h 32m 19s ⏱️ + 11m 5s
 1 606 tests + 5   1 606 ✅ + 5      0 💤 ±0  0 ❌ ±0 
19 732 runs  +60  15 588 ✅ +60  4 144 💤 ±0  0 ❌ ±0 

Results for commit 04bf847. ± Comparison against base commit 06fcd95.

♻️ This comment has been updated with latest results.