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Constant velocity (CV) motion model in MSC frame

`state = constvelmsc(state,vNoise)`

`state = constvelmsc(state,vNoise,dt)`

`state = constvelmsc(state,vNoise,dt,u)`

The function provides a constant velocity transition function in modified spherical coordinates (MSC) using a non-additive noise structure. The MSC frame assumes a single observer and the state is defined relative to it.