diff --git a/estimator.cabal b/estimator.cabal
--- a/estimator.cabal
+++ b/estimator.cabal
@@ -1,5 +1,5 @@
 name:                estimator
-version:             1.0.0
+version:             1.0.0.1
 synopsis:            State-space estimation algorithms such as Kalman Filters
 description:
   The goal of this library is to simplify implementation and use of
@@ -31,7 +31,7 @@
 source-repository    this
   type:     git
   location: https://github.com/GaloisInc/estimator
-  tag:      1.0.0
+  tag:      1.0.0.1
 
 Flag werror
   description: Make warnings errors
diff --git a/src/Numeric/Estimator/Class.hs b/src/Numeric/Estimator/Class.hs
--- a/src/Numeric/Estimator/Class.hs
+++ b/src/Numeric/Estimator/Class.hs
@@ -18,6 +18,8 @@
 
 module Numeric.Estimator.Class where
 
+import GHC.Exts (Constraint)
+
 -- | An estimator is a model of a system, describing how to update a
 -- prior estimated state with new information. Two kinds of estimators
 -- are the 'Process' model, and the 'Measure' (or observation) model.
@@ -72,12 +74,12 @@
   -- observation is, such as, for example, the innovation. This is the
   -- type of that quality indication, which may be @()@ if the chosen
   -- algorithm can't report measurement quality.
-  type MeasureQuality t obs
+  type MeasureQuality (t :: *) (obs :: * -> *) :: *
 
   -- | An algorithm may have specific constraints on what types of
   -- observation it can process. This type has a 'Constraint' kind and
   -- captures any required type-class constraints.
-  type MeasureObservable t obs
+  type MeasureObservable (t :: *) (obs :: * -> *) :: Constraint
 
   measure :: MeasureObservable t obs
           => obs (Var t, t)
diff --git a/src/Numeric/Estimator/Model/Coordinate.hs b/src/Numeric/Estimator/Model/Coordinate.hs
--- a/src/Numeric/Estimator/Model/Coordinate.hs
+++ b/src/Numeric/Estimator/Model/Coordinate.hs
@@ -1,4 +1,6 @@
 {-# LANGUAGE GeneralizedNewtypeDeriving #-}
+{-# LANGUAGE DeriveTraversable #-}
+{-# LANGUAGE DeriveFoldable #-}
 
 {- |
 Description: Types for different coordinate systems
@@ -34,8 +36,11 @@
 distances.
 -}
 newtype NED a = NED { nedToVec3 :: V3 a }
-    deriving (Show, Additive, Applicative, Distributive, Foldable, Functor, Metric, Num, Traversable)
+    deriving (Show, Additive, Applicative, Foldable, Functor, Metric, Num, Traversable)
 
+instance Distributive NED where
+  distribute = NED . distribute . fmap nedToVec3
+
 -- | Construct a navigation frame coordinate from (north, east, down).
 ned :: a -> a -> a -> NED a
 ned n e d = NED $ V3 n e d
@@ -53,7 +58,10 @@
 instant that the measurement was taken.
 -}
 newtype XYZ a = XYZ { xyzToVec3 :: V3 a }
-    deriving (Show, Additive, Applicative, Distributive, Foldable, Functor, Metric, Num, Traversable)
+    deriving (Show, Additive, Applicative, Foldable, Functor, Metric, Num, Traversable)
+
+instance (Distributive XYZ) where
+  distribute = XYZ . distribute . fmap xyzToVec3
 
 -- | Construct a body frame coordinate from (x, y, z).
 xyz :: a -> a -> a -> XYZ a