**Breaking changes:**
This latest release has numerous breaking changes from the previous _beta_ release. Going forward, new _beta_ releases will include notes on breaking changes.
**Implemented enhancements:**
- Add handling of various prior types predictors/updater [\329](https://github.com/dstl/Stone-Soup/pull/329) ([sdhiscocks](https://github.com/sdhiscocks))
- Modify sensors to return sets of TrueDetection types [\322](https://github.com/dstl/Stone-Soup/pull/322) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add Additional SIAPs [\321](https://github.com/dstl/Stone-Soup/pull/321) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add GaussianState initialization to WeightedGaussianState. [\320](https://github.com/dstl/Stone-Soup/pull/320) ([DaveKirkland](https://github.com/DaveKirkland))
- Add CombinedNonlinearGaussianTransitionModel [\292](https://github.com/dstl/Stone-Soup/pull/292) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add smooth transition model maker [\289](https://github.com/dstl/Stone-Soup/pull/289) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Iterated Kalman updater [\288](https://github.com/dstl/Stone-Soup/pull/288) ([jmbarr](https://github.com/jmbarr))
- TensorFlow Detector Update [\284](https://github.com/dstl/Stone-Soup/pull/284) ([sglvladi](https://github.com/sglvladi))
- Sensor-Measurement model consistency change [\253](https://github.com/dstl/Stone-Soup/pull/253) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Modify sensors to measure sets of ground truth states [\240](https://github.com/dstl/Stone-Soup/pull/240) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add bearing-only measurement model [\234](https://github.com/dstl/Stone-Soup/pull/234) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Sqrt kalma filter [\223](https://github.com/dstl/Stone-Soup/pull/223) ([jmbarr](https://github.com/jmbarr))
- Modify Angle type average to use numpy.sum\(\) [\222](https://github.com/dstl/Stone-Soup/pull/222) ([sdhiscocks](https://github.com/sdhiscocks))
- Platform state mutable [\220](https://github.com/dstl/Stone-Soup/pull/220) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Cast array type of StateVector when slicing [\219](https://github.com/dstl/Stone-Soup/pull/219) ([sdhiscocks](https://github.com/sdhiscocks))
- Added MultiTransitionMovingPlatform class [\218](https://github.com/dstl/Stone-Soup/pull/218) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add Gater classes [\216](https://github.com/dstl/Stone-Soup/pull/216) ([sglvladi](https://github.com/sglvladi))
- Change Property to use type hints and drop Python 3.5 support [\212](https://github.com/dstl/Stone-Soup/pull/212) ([sdhiscocks](https://github.com/sdhiscocks))
- Range rate radar extension [\208](https://github.com/dstl/Stone-Soup/pull/208) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Add StateVectors type and modify array handling [\204](https://github.com/dstl/Stone-Soup/pull/204) ([sdhiscocks](https://github.com/sdhiscocks))
- Allowed for generic data input to appropriate detection feeders [\203](https://github.com/dstl/Stone-Soup/pull/203) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Simplify SimplePDA [\202](https://github.com/dstl/Stone-Soup/pull/202) ([sglvladi](https://github.com/sglvladi))
- Added multi-deleter methods [\200](https://github.com/dstl/Stone-Soup/pull/200) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add support for numpy int and float types to serialise [\190](https://github.com/dstl/Stone-Soup/pull/190) ([sdhiscocks](https://github.com/sdhiscocks))
- Added StatesLengthLimiter [\189](https://github.com/dstl/Stone-Soup/pull/189) ([sjablett-dstl](https://github.com/sjablett-dstl))
- Modify detection and ground truth CSV readers [\188](https://github.com/dstl/Stone-Soup/pull/188) ([sdhiscocks](https://github.com/sdhiscocks))
- Change StateVector indexing [\187](https://github.com/dstl/Stone-Soup/pull/187) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Add TensorFlow detector [\184](https://github.com/dstl/Stone-Soup/pull/184) ([sglvladi](https://github.com/sglvladi))
- Added platform detection simulators. [\182](https://github.com/dstl/Stone-Soup/pull/182) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add reader video dependencies to mock imports for documentation [\181](https://github.com/dstl/Stone-Soup/pull/181) ([sdhiscocks](https://github.com/sdhiscocks))
- Update to platform to allow it to control the positions of its sensors [\177](https://github.com/dstl/Stone-Soup/pull/177) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Add ID to Ground Truth Paths [\174](https://github.com/dstl/Stone-Soup/pull/174) ([sdhiscocks](https://github.com/sdhiscocks))
- Updated models so function does not add noise by default [\173](https://github.com/dstl/Stone-Soup/pull/173) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Enable smoother to extract estimates from track [\172](https://github.com/dstl/Stone-Soup/pull/172) ([sdhiscocks](https://github.com/sdhiscocks))
- Speed up GNNWith2DAssignment [\169](https://github.com/dstl/Stone-Soup/pull/169) ([sglvladi](https://github.com/sglvladi))
- Added Longitude and Latitude types [\168](https://github.com/dstl/Stone-Soup/pull/168) ([sglvladi](https://github.com/sglvladi))
- Property extensions [\167](https://github.com/dstl/Stone-Soup/pull/167) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Increase allowed line length [\166](https://github.com/dstl/Stone-Soup/pull/166) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Modify SinglePointInitiator to work with non-linear models [\163](https://github.com/dstl/Stone-Soup/pull/163) ([sdhiscocks](https://github.com/sdhiscocks))
- Avoid calculating measurement prediction for missed detections [\162](https://github.com/dstl/Stone-Soup/pull/162) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Multi-detector Feeder class [\151](https://github.com/dstl/Stone-Soup/pull/151) ([sdhiscocks](https://github.com/sdhiscocks))
- Video processing classes [\150](https://github.com/dstl/Stone-Soup/pull/150) ([sglvladi](https://github.com/sglvladi))
- Passive sensor [\147](https://github.com/dstl/Stone-Soup/pull/147) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Add a combined non-linear Gaussian measurement model [\146](https://github.com/dstl/Stone-Soup/pull/146) ([sdhiscocks](https://github.com/sdhiscocks))
- Add multi-dimension delta to Jacobian function [\143](https://github.com/dstl/Stone-Soup/pull/143) ([sdhiscocks](https://github.com/sdhiscocks))
- Move all rvs and pdf methods to GaussianModel class [\141](https://github.com/dstl/Stone-Soup/pull/141) ([sdhiscocks](https://github.com/sdhiscocks))
- SIAP metric output table with red and green visual [\139](https://github.com/dstl/Stone-Soup/pull/139) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Update components to use buffered generator [\137](https://github.com/dstl/Stone-Soup/pull/137) ([sdhiscocks](https://github.com/sdhiscocks))
- Constant turn sandwich [\136](https://github.com/dstl/Stone-Soup/pull/136) ([snaylor20](https://github.com/snaylor20))
- Ground truth reader [\135](https://github.com/dstl/Stone-Soup/pull/135) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Adds a variety of switching simulators. [\134](https://github.com/dstl/Stone-Soup/pull/134) ([snaylor20](https://github.com/snaylor20))
- Nth Derivative Decay [\133](https://github.com/dstl/Stone-Soup/pull/133) ([snaylor20](https://github.com/snaylor20))
- add multi meas initiator & non linear w tests [\128](https://github.com/dstl/Stone-Soup/pull/128) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Add 2d assignment alg + new gnn [\126](https://github.com/dstl/Stone-Soup/pull/126) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Add inverse bearing function &reverse method names [\125](https://github.com/dstl/Stone-Soup/pull/125) ([lflaherty-dstl](https://github.com/lflaherty-dstl))
- Track metadata handling update [\121](https://github.com/dstl/Stone-Soup/pull/121) ([sglvladi](https://github.com/sglvladi))
- Feeder Modifications [\117](https://github.com/dstl/Stone-Soup/pull/117) ([sdhiscocks](https://github.com/sdhiscocks))
- Buffered generator [\116](https://github.com/dstl/Stone-Soup/pull/116) ([dcrew-dstl](https://github.com/dcrew-dstl))
- Expand csv reader [\115](https://github.com/dstl/Stone-Soup/pull/115) ([dcrew-dstl](https://github.com/dcrew-dstl))
- DistanceHypothesiser gate out hypotheses greater than missed distance [\114](https://github.com/dstl/Stone-Soup/pull/114) ([sdhiscocks](https://github.com/sdhiscocks))
- Nth Derivative model [\112](https://github.com/dstl/Stone-Soup/pull/112) ([snaylor20](https://github.com/snaylor20))
- Detection Feeders [\108](https://github.com/dstl/Stone-Soup/pull/108) ([sglvladi](https://github.com/sglvladi))
- Update StateVector and Array classes. Add convenience handling for StateVector [\104](https://github.com/dstl/Stone-Soup/pull/104) ([DaveKirkland](https://github.com/DaveKirkland))
- Add Ornstein-Uhlenbeck transition model [\100](https://github.com/dstl/Stone-Soup/pull/100) ([sglvladi](https://github.com/sglvladi))
- Gaussian Mixture Probability Hypothesis Density Filter [\88](https://github.com/dstl/Stone-Soup/pull/88) ([Campbell101](https://github.com/Campbell101))
**Fixed bugs:**
- Fix SIAP metric component _nu_j [\345](https://github.com/dstl/Stone-Soup/pull/345) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix Prediction/Update from\_state being called with StateMutableSequence [\337](https://github.com/dstl/Stone-Soup/pull/337) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix rotating radar to handle measuring empty sets [\335](https://github.com/dstl/Stone-Soup/pull/335) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix YAML dump\_all method [\319](https://github.com/dstl/Stone-Soup/pull/319) ([sdhiscocks](https://github.com/sdhiscocks))
- Modify custom models to take state deep-copies [\317](https://github.com/dstl/Stone-Soup/pull/317) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Modify MultiTransitionMovingPlatform to append state only after full transition [\315](https://github.com/dstl/Stone-Soup/pull/315) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Change 'Ambiguity' metric to return 1 when there are no tracks/truths [\314](https://github.com/dstl/Stone-Soup/pull/314) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Change Property getters and setters [\311](https://github.com/dstl/Stone-Soup/pull/311) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix nonlinear models to give correct elevation [\310](https://github.com/dstl/Stone-Soup/pull/310) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix rotating radar test [\308](https://github.com/dstl/Stone-Soup/pull/308) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix issue with properties being reinstated from ancestors [\307](https://github.com/dstl/Stone-Soup/pull/307) ([sdhiscocks](https://github.com/sdhiscocks))
- Correct property name in specification error [\304](https://github.com/dstl/Stone-Soup/pull/304) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Refactor to avoid nested models [\298](https://github.com/dstl/Stone-Soup/pull/298) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix leftover open file handles. [\296](https://github.com/dstl/Stone-Soup/pull/296) ([DaveKirkland](https://github.com/DaveKirkland))
- Add correct error for simple measurement initiator [\291](https://github.com/dstl/Stone-Soup/pull/291) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix rotating radar dwell centre calculation [\290](https://github.com/dstl/Stone-Soup/pull/290) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix Hellinger distance. [\287](https://github.com/dstl/Stone-Soup/pull/287) ([jswright-dstl](https://github.com/jswright-dstl))
- Fix mapped dimensions in simple measurement initiator [\286](https://github.com/dstl/Stone-Soup/pull/286) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix rounding error issues for int-based state vectors in gauss2sigma [\279](https://github.com/dstl/Stone-Soup/pull/279) ([sglvladi](https://github.com/sglvladi))
- fix to platform orientation issue [\274](https://github.com/dstl/Stone-Soup/pull/274) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Fix \(G\)OSPA Metrics [\273](https://github.com/dstl/Stone-Soup/pull/273) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix caching issue with states/mutable-sequences with predictor [\272](https://github.com/dstl/Stone-Soup/pull/272) ([sdhiscocks](https://github.com/sdhiscocks))
- Override StateVector.flatten\(\) and StateVector.ravel\(\) functions [\270](https://github.com/dstl/Stone-Soup/pull/270) ([sglvladi](https://github.com/sglvladi))
- Change 2D sensor/platform orientations to 3D shape [\269](https://github.com/dstl/Stone-Soup/pull/269) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Fix initiator covariance issue. [\266](https://github.com/dstl/Stone-Soup/pull/266) ([DaveKirkland](https://github.com/DaveKirkland))
- Fix issues with copying platforms [\263](https://github.com/dstl/Stone-Soup/pull/263) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix issue with YAML requiring deep construct [\230](https://github.com/dstl/Stone-Soup/pull/230) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix StateVectors average method with custom types [\227](https://github.com/dstl/Stone-Soup/pull/227) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix flake8 errors introduced with recent flake8 update [\225](https://github.com/dstl/Stone-Soup/pull/225) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix divide by zero in SIAP Metrics when no truth/tracks [\215](https://github.com/dstl/Stone-Soup/pull/215) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix orientation setter in sensors with internal platforms. [\206](https://github.com/dstl/Stone-Soup/pull/206) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix issue with logpdf not handling custom types \(e.g. Angle\) [\205](https://github.com/dstl/Stone-Soup/pull/205) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix gauss2sigma raising error when state vector has integers [\198](https://github.com/dstl/Stone-Soup/pull/198) ([sdhiscocks](https://github.com/sdhiscocks))
- Add support for array/number types and parser type in YAML [\194](https://github.com/dstl/Stone-Soup/pull/194) ([sdhiscocks](https://github.com/sdhiscocks))
- JPDA and SystematicResampler Fixes \(updated\) [\193](https://github.com/dstl/Stone-Soup/pull/193) ([sglvladi](https://github.com/sglvladi))
- corrected rotx roty rotz for n x theta array. Now returns 3 x 3 x n a… [\192](https://github.com/dstl/Stone-Soup/pull/192) ([dcherrie-dstl](https://github.com/dcherrie-dstl))
- Update AESARadar to avoid mutating measurement model [\191](https://github.com/dstl/Stone-Soup/pull/191) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Change YAMLReader to return same path/track, updating the states [\180](https://github.com/dstl/Stone-Soup/pull/180) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix for KalmanFilter when using multiple models [\148](https://github.com/dstl/Stone-Soup/pull/148) ([sdhiscocks](https://github.com/sdhiscocks))
- JPDA Modifications [\113](https://github.com/dstl/Stone-Soup/pull/113) ([sdhiscocks](https://github.com/sdhiscocks))
- fix-ConstantAcceleration transition model [\109](https://github.com/dstl/Stone-Soup/pull/109) ([Valar001](https://github.com/Valar001))
- Fixed bug in gm\_reduce\_single [\101](https://github.com/dstl/Stone-Soup/pull/101) ([paulhorridge](https://github.com/paulhorridge))
**Documentation updates:**
- Add metric managers to documentation [\340](https://github.com/dstl/Stone-Soup/pull/340) ([sdhiscocks](https://github.com/sdhiscocks))
- Correct spelling in tracktotrack test comment [\332](https://github.com/dstl/Stone-Soup/pull/332) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Correct SIAP acronym [\306](https://github.com/dstl/Stone-Soup/pull/306) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Various fixes/update for Sphinx Gallery generated documentation/notebooks [\302](https://github.com/dstl/Stone-Soup/pull/302) ([sdhiscocks](https://github.com/sdhiscocks))
- Correct simple.py typo [\299](https://github.com/dstl/Stone-Soup/pull/299) ([jswright-dstl](https://github.com/jswright-dstl))
- Minor documentation fixes [\275](https://github.com/dstl/Stone-Soup/pull/275) ([jmbarr](https://github.com/jmbarr))
- Documentation Updates [\261](https://github.com/dstl/Stone-Soup/pull/261) ([sdhiscocks](https://github.com/sdhiscocks))
- review comments for sensor platform simulation [\260](https://github.com/dstl/Stone-Soup/pull/260) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Multi-sensor platform Simulation Example [\258](https://github.com/dstl/Stone-Soup/pull/258) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Tutorial Mods [\256](https://github.com/dstl/Stone-Soup/pull/256) ([jmbarr](https://github.com/jmbarr))
- Single sensor platform example [\252](https://github.com/dstl/Stone-Soup/pull/252) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Tweaks to the single target tutorials. [\250](https://github.com/dstl/Stone-Soup/pull/250) ([jmbarr](https://github.com/jmbarr))
- Fix Sphinx-Gallery scraper animations [\249](https://github.com/dstl/Stone-Soup/pull/249) ([sdhiscocks](https://github.com/sdhiscocks))
- Data assoc tutorial mods1 [\248](https://github.com/dstl/Stone-Soup/pull/248) ([jmbarr](https://github.com/jmbarr))
- UAV Tutorial\_V2 [\247](https://github.com/dstl/Stone-Soup/pull/247) ([DaveKirkland](https://github.com/DaveKirkland))
- Add download link to AIS data in AIS demo [\245](https://github.com/dstl/Stone-Soup/pull/245) ([sdhiscocks](https://github.com/sdhiscocks))
- Changed the Kalman Filter tutorial. [\243](https://github.com/dstl/Stone-Soup/pull/243) ([jmbarr](https://github.com/jmbarr))
- Add \(J\)PDA Tutorial and Diagrams [\239](https://github.com/dstl/Stone-Soup/pull/239) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Add Initiators & Deleters tutorial [\238](https://github.com/dstl/Stone-Soup/pull/238) ([sdhiscocks](https://github.com/sdhiscocks))
- Add Data Association Tutorials [\236](https://github.com/dstl/Stone-Soup/pull/236) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Metrics example and changes [\235](https://github.com/dstl/Stone-Soup/pull/235) ([sdhiscocks](https://github.com/sdhiscocks))
- Documentation design and other updates [\232](https://github.com/dstl/Stone-Soup/pull/232) ([sdhiscocks](https://github.com/sdhiscocks))
- Add demonstrations section with updated AIS Solent Tracker demo [\229](https://github.com/dstl/Stone-Soup/pull/229) ([sdhiscocks](https://github.com/sdhiscocks))
- Documentation updates [\228](https://github.com/dstl/Stone-Soup/pull/228) ([sdhiscocks](https://github.com/sdhiscocks))
- Added sphinx-gallery in to documentation [\224](https://github.com/dstl/Stone-Soup/pull/224) ([oharrald-Dstl](https://github.com/oharrald-Dstl))
- Modify non-linear doc strings for Range Rate methods [\221](https://github.com/dstl/Stone-Soup/pull/221) ([rjgreen-dstl](https://github.com/rjgreen-dstl))
- Update doc extensions for richer type definitions [\183](https://github.com/dstl/Stone-Soup/pull/183) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Adds some documentation [\140](https://github.com/dstl/Stone-Soup/pull/140) ([snaylor20](https://github.com/snaylor20))
- Fix double "https://" in README link to utm Lib [\#119](https://github.com/dstl/Stone-Soup/pull/119) ([GSORF](https://github.com/GSORF))
- Issue 106. Add link to original article [\107](https://github.com/dstl/Stone-Soup/pull/107) ([IanMayo](https://github.com/IanMayo))
**Other changes:**
- Use setuptools_scm for versioning [\336](https://github.com/dstl/Stone-Soup/pull/336) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix warnings raised for NumPy NEP34 and sensor reassignment [\282](https://github.com/dstl/Stone-Soup/pull/282) ([sdhiscocks](https://github.com/sdhiscocks))
- Add coverage and codecov upload to documentation build [\233](https://github.com/dstl/Stone-Soup/pull/233) ([sdhiscocks](https://github.com/sdhiscocks))
- Loosen tolerances on Swerling tests, to reduce chance of random failure [\175](https://github.com/dstl/Stone-Soup/pull/175) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Fix platform tests [\165](https://github.com/dstl/Stone-Soup/pull/165) ([etfrogers-dstl](https://github.com/etfrogers-dstl))
- Resolve issue with simulator tests sometimes failing [\158](https://github.com/dstl/Stone-Soup/pull/158) ([sdhiscocks](https://github.com/sdhiscocks))
- Fix deprecated warning for pytest, Sphinx and SciPy [\153](https://github.com/dstl/Stone-Soup/pull/153) ([sdhiscocks](https://github.com/sdhiscocks))