Require square tracking event covariance

[FlorianPfaff]

Summary

• Validate TrackingEvent.covariance with the existing square-matrix helper even when no measurement vector is supplied.
• Add a regression test for non-square event covariance without a measurement.

Testing

• Added focused regression test in tests/tracking/test_event_records.py.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	47.94s
✅ JSON	prettier	7	0	0	0	0.74s
✅ JSON	v8r	7		0	0	3.66s
✅ MARKDOWN	markdownlint	68	0	0	0	1.68s
✅ MARKDOWN	markdown-table-formatter	68	0	0	0	0.61s
✅ PYTHON	black	890	10	0	0	49.03s
✅ PYTHON	isort	890	11	0	0	3.5s
✅ REPOSITORY	checkov	yes		no	no	42.75s
✅ REPOSITORY	gitleaks	yes		no	no	9.43s
✅ REPOSITORY	git_diff	yes		no	no	0.04s
✅ REPOSITORY	secretlint	yes		no	no	25.0s
✅ REPOSITORY	syft	yes		no	no	4.9s
✅ REPOSITORY	trivy-sbom	yes		no	no	7.09s
✅ REPOSITORY	trufflehog	yes		no	no	23.95s
✅ YAML	prettier	11	0	0	0	0.55s
✅ YAML	v8r	11		0	0	10.53s
✅ YAML	yamllint	11		0	0	0.62s

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