{"id":"https://openalex.org/W3175388217","doi":"https://doi.org/10.3390/s21134457","title":"BOTNet: Deep Learning-Based Bearings-Only Tracking Using Multiple Passive Sensors","display_name":"BOTNet: Deep Learning-Based Bearings-Only Tracking Using Multiple Passive Sensors","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W3175388217","doi":"https://doi.org/10.3390/s21134457","mag":"3175388217","pmid":"https://pubmed.ncbi.nlm.nih.gov/34209947"},"language":"en","primary_location":{"id":"doi:10.3390/s21134457","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21134457","pdf_url":"https://www.mdpi.com/1424-8220/21/13/4457/pdf?version=1625191853","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/13/4457/pdf?version=1625191853","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005078874","display_name":"Hadar Shalev","orcid":"https://orcid.org/0000-0002-9272-254X"},"institutions":[{"id":"https://openalex.org/I91203450","display_name":"University of Haifa","ror":"https://ror.org/02f009v59","country_code":"IL","type":"education","lineage":["https://openalex.org/I91203450"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Hadar Shalev","raw_affiliation_strings":["Department of Marine Technologies, University of Haifa, Haifa 3498838, Israel"],"affiliations":[{"raw_affiliation_string":"Department of Marine Technologies, University of Haifa, Haifa 3498838, Israel","institution_ids":["https://openalex.org/I91203450"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012718881","display_name":"Itzik Klein","orcid":"https://orcid.org/0000-0001-7846-0654"},"institutions":[{"id":"https://openalex.org/I91203450","display_name":"University of Haifa","ror":"https://ror.org/02f009v59","country_code":"IL","type":"education","lineage":["https://openalex.org/I91203450"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Itzik Klein","raw_affiliation_strings":["Department of Marine Technologies, University of Haifa, Haifa 3498838, Israel"],"affiliations":[{"raw_affiliation_string":"Department of Marine Technologies, University of Haifa, Haifa 3498838, Israel","institution_ids":["https://openalex.org/I91203450"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005078874"],"corresponding_institution_ids":["https://openalex.org/I91203450"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.3996,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.84812809,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"21","issue":"13","first_page":"4457","last_page":"4457"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5836520791053772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5733898282051086},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5574874877929688},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.5033606886863708},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4865535795688629},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.4730707108974457},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.47245267033576965},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.47079434990882874},{"id":"https://openalex.org/keywords/line-of-sight","display_name":"Line-of-sight","score":0.46990248560905457},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.43330106139183044},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4226265847682953},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34113287925720215},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.297794908285141},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.19042980670928955},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0977327823638916},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08568689227104187}],"concepts":[{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5836520791053772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5733898282051086},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5574874877929688},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.5033606886863708},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4865535795688629},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.4730707108974457},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.47245267033576965},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.47079434990882874},{"id":"https://openalex.org/C2780928442","wikidata":"https://www.wikidata.org/wiki/Q6553027","display_name":"Line-of-sight","level":2,"score":0.46990248560905457},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43330106139183044},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4226265847682953},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34113287925720215},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.297794908285141},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.19042980670928955},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0977327823638916},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08568689227104187},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016018","descriptor_name":"Least-Squares Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016018","descriptor_name":"Least-Squares Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016018","descriptor_name":"Least-Squares Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s21134457","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21134457","pdf_url":"https://www.mdpi.com/1424-8220/21/13/4457/pdf?version=1625191853","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:34209947","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34209947","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:604df4e8259b4a3dba2e70a3d2e3c64e","is_oa":true,"landing_page_url":"https://doaj.org/article/604df4e8259b4a3dba2e70a3d2e3c64e","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 13, p 4457 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/13/4457/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21134457","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 21; Issue 13; Pages: 4457","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8271718","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8271718","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21134457","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21134457","pdf_url":"https://www.mdpi.com/1424-8220/21/13/4457/pdf?version=1625191853","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3175388217.pdf","grobid_xml":"https://content.openalex.org/works/W3175388217.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W403953909","https://openalex.org/W1189786567","https://openalex.org/W1531532259","https://openalex.org/W1976915699","https://openalex.org/W1979101726","https://openalex.org/W1998166956","https://openalex.org/W2014698533","https://openalex.org/W2015794021","https://openalex.org/W2026450369","https://openalex.org/W2030255580","https://openalex.org/W2103433011","https://openalex.org/W2118802473","https://openalex.org/W2137338847","https://openalex.org/W2191260575","https://openalex.org/W2217751319","https://openalex.org/W2238582461","https://openalex.org/W2475926550","https://openalex.org/W2526933870","https://openalex.org/W2557182689","https://openalex.org/W2614634292","https://openalex.org/W2767286248","https://openalex.org/W2886668792","https://openalex.org/W2922221345","https://openalex.org/W2937257010","https://openalex.org/W2949676527","https://openalex.org/W2960057190","https://openalex.org/W3007103623","https://openalex.org/W4206428854","https://openalex.org/W6638484148"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2369126164","https://openalex.org/W1482785882","https://openalex.org/W2376218423"],"abstract_inverted_index":{"Bearings-only":[0],"target":[1,50,69,76],"tracking":[2,15,25,70,77,104],"is":[3,114],"commonly":[4],"used":[5],"in":[6,18],"many":[7],"fields,":[8],"like":[9],"air":[10],"or":[11],"sea":[12],"traffic":[13],"monitoring,":[14],"a":[16,19,34,62,80,101,123],"member":[17],"formation,":[20],"and":[21],"military":[22],"applications.":[23],"When":[24],"with":[26],"synchronous":[27],"passive":[28,118],"multisensor":[29],"systems,":[30],"each":[31],"sensor":[32],"provides":[33],"line-of-sight":[35],"measurement.":[36],"They":[37],"are":[38,120],"plugged":[39],"into":[40],"an":[41,105,110,131],"iterative":[42,56,93,148],"least":[43,57,94,149],"squares":[44,150],"algorithm":[45],"to":[46,126,146],"estimate":[47],"the":[48,67,83,91,98,139,147],"unknown":[49],"position":[51],"vector.":[52],"Instead":[53],"of":[54,103,130],"using":[55],"squares,":[58],"this":[59],"paper":[60],"presents":[61],"deep-learning":[63,85],"based":[64],"framework":[65,86,141],"for":[66,73],"bearing-only":[68],"process,":[71],"applicable":[72],"any":[74],"bearings-only":[75],"task.":[78],"As":[79],"data-driven":[81],"method,":[82],"proposed":[84,99,140],"offers":[87],"several":[88,117],"advantages":[89],"over":[90],"traditional":[92],"squares.":[95],"To":[96],"demonstrate":[97],"approach,":[100],"scenario":[102],"autonomous":[106,133],"underwater":[107,111,134],"vehicle":[108],"approaching":[109,132],"docking":[112,124],"station":[113,125],"considered.":[115],"There,":[116],"sensors":[119],"mounted":[121],"near":[122],"enable":[127],"accurate":[128],"localization":[129],"vehicle.":[135],"Simulation":[136],"results":[137],"show":[138],"obtains":[142],"better":[143],"accuracy":[144],"compared":[145],"algorithm.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}