add option to add dynamics noise before propagation for UKF

[baggepinnen]

Tests required

[codecov]

Codecov Report

Patch coverage: 78.57% and project coverage change: -0.18% ⚠️

Comparison is base (50f1356) 87.01% compared to head (68df0b5) 86.83%.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #117      +/-   ##
==========================================
- Coverage   87.01%   86.83%   -0.18%     
==========================================
  Files          14       14              
  Lines        1124     1132       +8     
==========================================
+ Hits          978      983       +5     
- Misses        146      149       +3     

Flag	Coverage Δ
unittests	86.83% <78.57%> (-0.18%)	⬇️

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Files Changed	Coverage Δ
src/ukf.jl	95.00% <78.57%> (-1.52%)	⬇️

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