def METHOD_NAME(measurement_model, states, nsamples):
    timestamp_now = datetime.datetime.now()
    detections = set()
    for ii in range(3):
        detections |= {Detection(measurement_model.function(State(states[ii])),
                                 measurement_model=measurement_model,
                                 timestamp=timestamp_now)}
    sampler = GaussianDetectionParticleSampler(nsamples=nsamples)
    particles = sampler.sample(detections)
    # check number of particles
    assert len(particles) == nsamples
    # check state vector dimensions
    assert particles.state_vector.shape[0] == states[0].shape[0]
    # check timestamp
    assert particles.timestamp == timestamp_now