[angularjs] AngularJS UI Router - change url without reloading state

After spending a lot of time with this issue, Here is what I got working

$state.go('stateName',params,{
    // prevent the events onStart and onSuccess from firing
    notify:false,
    // prevent reload of the current state
    reload:false, 
    // replace the last record when changing the params so you don't hit the back button and get old params
    location:'replace', 
    // inherit the current params on the url
    inherit:true
});