Validate tracking record innovation covariance shape

[FlorianPfaff]

Summary

• Validate TrackingRecord.innovation_cov with the existing square-matrix helper even when no innovation vector is supplied.
• Keep the innovation-dimension check when an innovation vector is present.
• Add a regression test for rectangular innovation_cov on records without an innovation vector.

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	57.0s
✅ JSON	prettier	7	0	0	0	1.02s
✅ JSON	v8r	7		0	0	4.98s
✅ MARKDOWN	markdownlint	68	0	0	0	1.68s
✅ MARKDOWN	markdown-table-formatter	68	0	0	0	0.75s
✅ PYTHON	black	890	11	0	0	49.05s
✅ PYTHON	isort	890	12	0	0	3.5s
✅ REPOSITORY	checkov	yes		no	no	46.09s
✅ REPOSITORY	gitleaks	yes		no	no	9.06s
✅ REPOSITORY	git_diff	yes		no	no	0.09s
✅ REPOSITORY	secretlint	yes		no	no	25.57s
✅ REPOSITORY	syft	yes		no	no	2.55s
✅ REPOSITORY	trivy-sbom	yes		no	no	4.94s
✅ REPOSITORY	trufflehog	yes		no	no	23.8s
✅ YAML	prettier	11	0	0	0	0.71s
✅ YAML	v8r	11		0	0	10.82s
✅ YAML	yamllint	11		0	0	0.44s

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