StateEstimation: move the general SE(3) interface into the filter library

Now each exposes a general process method which then knows how to handle
all the infrastructure specific code.

An example for insgps is provided which initializes the SE(3) architecture
during its own initialization and then is called from
    filter_infrastructure_s3_process

which takes care of the common queue and uavo handling work.
StateEstimation: small fixes
Filter: move the queues into the SE(3) data structure

No need for them to be static.  There is still a question of whether
there should be one queue shared amongst the SE(3) filters which is
more efficient but more complicated logic.
Filter: update references to SE(3)+

It is inappropriate to call the filters SE(3) since they can
also estimate airspeed.
Filter: rename _s3 to _se3 to match SE(3)+ better