fixing bug: array and keys did not match in particle_filter

[teubert]

Changes from nasa/progpy#77

bug found and solution written by @mstraut

Solves issues where array values and keys do not match when 1. Do not call m.initialize(), and instead 2. provide a state as a dictionary instead of a state container, and 3. order the states in a different order than m.states

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[mstraut]

I approved it, but now I'm seeing tests fail when they didn't on my local

[kjjarvis]

Looks good, nice catch