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Promote unmeasured cov to ProcessorMotion

Joan Solà Ortega requested to merge feature/promote_unmeasured_cov_to_prc_motion into devel

Some variables related to the noise levels not measured by the motion measurements rendered the motion covariance singular.

The fixes were spread across multiple derivations of ProcessorMotion.

This MR has moved to the base class ProcessorMotion these variables.

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