Update UKF sigma cache after process noise

[FlorianPfaff]

Summary

• regenerate cached propagated sigma points after additive process noise is folded into the UKF prediction covariance
• add a regression comparing the UKF update against the linear Kalman filter in the additive-noise case

Validation

• Not run (per request).

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	52.11s
✅ JSON	prettier	7	0	0	0	1.02s
✅ JSON	v8r	7		0	0	5.05s
✅ MARKDOWN	markdownlint	68	0	0	0	1.72s
✅ MARKDOWN	markdown-table-formatter	68	0	0	0	0.77s
✅ PYTHON	black	821	0	0	0	37.88s
✅ PYTHON	isort	821	1	0	0	6.04s
✅ REPOSITORY	checkov	yes		no	no	45.33s
✅ REPOSITORY	gitleaks	yes		no	no	13.47s
✅ REPOSITORY	git_diff	yes		no	no	0.12s
✅ REPOSITORY	secretlint	yes		no	no	25.49s
✅ REPOSITORY	syft	yes		no	no	3.4s
✅ REPOSITORY	trivy-sbom	yes		no	no	4.74s
✅ REPOSITORY	trufflehog	yes		no	no	22.84s
✅ YAML	prettier	11	0	0	0	0.66s
✅ YAML	v8r	11		0	0	10.03s
✅ YAML	yamllint	11		0	0	0.47s

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