angularjs - Set URL query parameters without state change using Angular ui-router

How should I update the address bar URL with a changing query parameter using AngularJS' ui-router to maintain state when refreshing the page?

Currently, I am using $state.transitionTo('search', {q: 'updated search term'}) whenever input changes, but the problem is that this reloads the controller, redraws the window and loses any text input focus.

Is there a way to update stateParams and sync it to the window URL?