Laikad: Improve convergence and recovering

[gijskoning]

If the residual between the filter and measurements is too big reset the covariance matrix

Fixes segments: 62500dab8133b6aa|2022-07-10--19-36-27--0 -> Large pseudorange change, clock bias needs to adjust. f0a34b105563fa46|2022-07-11--18-00-33--0 -> Incoming Glonass measurements change the state incorrectly. having the residual checks fixes it.

[adeebshihadeh]

@HaraldSchafer is this still relevant? shall we move to draft?

[haraschax]

yes