Add optional ecef_T_nav to PseudorangeFactorArm for GNSS/IMU coupling #4610

Job	Run time
ubuntu-clang-tbb Release	27m 32s
ubuntu-clang-quaternions Release	25m 4s
ubuntu-clang-system-libs Release	25m 0s
ubuntu-clang-deprecated Release	24m 42s
ubuntu-clang-cayleymap Release	26m 8s
ubuntu-no-unstable Release	17m 17s
ubuntu-build-examples Release	24m 24s
	2h 50m 7s

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