hector_pose_estimation_core: disabled velocity and position updates during alignment and fixed jacobian if velocity updates are disabled
hector_pose_estimation_core: decreased default stddev of pseudo gravity update and enabled bias update for this measurement
hector_pose_estimation_core: fixed magnetic heading calculation
hector_pose_estimation_core: do not integrate z rate during alignment or without yaw measurement

This is consistent with the velocity and position updates.
hector_pose_estimation_core: reverted unfiltered state updates introduced in dynamic_state branch and properly reset system status
hector_pose_estimation_core: switched sign of bias estimates and increase default accelerometer drift

The inverted sign is consistent with the simulation environment.
A positive bias means that the measured value is considered greater than the real value.
hector_pose_estimation_core: added world to nav transform broadcaster and global/reference (geographic_msgs/GeoPose) publisher