diff --git a/src/roboticstoolbox/mobile/ParticleFilter.py b/src/roboticstoolbox/mobile/ParticleFilter.py
index 6eeec5509..574db3391 100644
--- a/src/roboticstoolbox/mobile/ParticleFilter.py
+++ b/src/roboticstoolbox/mobile/ParticleFilter.py
@@ -652,9 +652,14 @@ def get_xyt(self):
         :return: vehicle trajectory where each row is configuration :math:`(x, y, \theta)`
         :rtype: ndarray(n,3)
 
+        .. versionchanged:: 1.4.5
+            Returns the heading as well as the position, as documented and as
+            :meth:`EKF.get_xyt` does.  Previously the result had only the
+            :math:`(x, y)` columns, ``xyt[:, :2]`` is that.
+
         :seealso: :meth:`plot_xy` :meth:`run` :meth:`history`
         """
-        return np.array([h.xest[:2] for h in self._history])
+        return np.array([h.xest[:3] for h in self._history])
 
     def get_std(self):
         r"""
diff --git a/tests/test_vehicle_estimators.py b/tests/test_vehicle_estimators.py
index 57d76594f..3a0c5635c 100644
--- a/tests/test_vehicle_estimators.py
+++ b/tests/test_vehicle_estimators.py
@@ -456,7 +456,7 @@ def test_no_pause_unless_animating(self) -> None:
 
     def test_converges_to_the_truth(self) -> None:
         pf, robot = self.run_filter()
-        error = np.linalg.norm(pf.get_xyt()[-1] - robot.x[:2])
+        error = np.linalg.norm(pf.get_xyt()[-1, :2] - robot.x[:2])
         self.assertLess(error, 1.0)
 
     def test_uncertainty_shrinks(self) -> None:
@@ -468,10 +468,17 @@ def test_result_shapes(self) -> None:
         pf, robot = self.run_filter(nparticles=100, T=2)
         steps = round(2 / robot.dt)
         self.assertEqual(pf.get_t().shape, (steps,))
-        self.assertEqual(pf.get_xyt().shape, (steps, 2))
+        self.assertEqual(pf.get_xyt().shape, (steps, 3))
         self.assertEqual(pf.get_std().shape, (steps, 3))
         self.assertEqual(pf.x.shape, (100, 3))
 
+    def test_xyt_includes_heading(self) -> None:
+        pf, _ = self.run_filter(nparticles=100, T=2)
+        xyt = pf.get_xyt()
+        # heading is the estimate in the history, within the wrapped range
+        nt.assert_array_equal(xyt[:, 2], [h.xest[2] for h in pf.history])
+        self.assertTrue(np.all(np.abs(xyt[:, 2]) <= np.pi + 1e-9))
+
     def test_same_seed_same_estimate(self) -> None:
         a, _ = self.run_filter(nparticles=100, T=2, seed=5)
         b, _ = self.run_filter(nparticles=100, T=2, seed=5)