bugfixes on real measurement processing
bugfixes on real measurement processing

jeljaik/extended-kalman-filter,jeljaik/extended-kalman-filter,jeljaik/extended-kalman-filter,zmxu/extended-kalman-filter,zmxu/extended-kalman-filter,zmxu/extended-kalman-filter,jeljaik/extended-kalman-filter,jeljaik/extended-kalman-filter,zmxu/extended-kalman-filter,zmxu/extended-kalman-filter