BOTNet: Deep learning-based bearings-only tracking using multiple passive sensors

Hadar Shalev, Itzik Klein

Research output: Contribution to journalArticlepeer-review


Bearings-only target tracking is commonly used in many fields, like air or sea traffic monitoring, tracking a member in a formation, and military applications. When tracking with synchronous passive multisensor systems, each sensor provides a line-of-sight measurement. They are plugged into an iterative least squares algorithm to estimate the unknown target position vector. Instead of using iterative least squares, this paper presents a deep-learning based framework for the bearing-only target tracking process, applicable for any bearings-only target tracking task. As a data-driven method, the proposed deep-learning framework offers several advantages over the traditional iterative least squares. To demonstrate the proposed approach, a scenario of tracking an autonomous underwater vehicle approaching an underwater docking station is considered. There, several passive sensors are mounted near a docking station to enable accurate localization of an approaching autonomous underwater vehicle. Simulation results show the proposed framework obtains better accuracy compared to the iterative least squares algorithm.

Original languageEnglish
Article number4457
Issue number13
StatePublished - 29 Jun 2021

Bibliographical note

Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.


  • Autonomous underwater vehicle
  • Bearings-only
  • Deep learning
  • Target tracking
  • Algorithms
  • Computer Simulation
  • Least-Squares Analysis
  • Deep Learning

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Instrumentation
  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering
  • Biochemistry


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