Apply latitude correction and bound SphericalCoordinate residuals

[moeyensj]

Residuals in SphericalCoordinates require a bit of special care. This PR adds a few main changes:

• Residuals in spherical coordinates are bounded to [-180, 180] degrees in longitude (the sign is also corrected for residuals across the 0/360 boundary).
• A cosine latitude correction factor is applied to longitude and longitudinal velocity residuals
• The same cosine latitude correction factor is applied to the covariance matrices