  Navigation and exploration within unknown environments are typical examples
in which simultaneous localization and mapping (SLAM) algorithms are applied.
When mobile agents deploy only range sensors without bearing information, the
agents must estimate the bearing using the online distance measurement for the
localization and mapping purposes. In this paper, we propose a scalable dynamic
bearing estimator to obtain the relative bearing of the static landmarks in the
local coordinate frame of a moving agent in real-time. Using contraction
theory, we provide convergence analysis of the proposed range-only bearing
estimator and present upper and lower-bound for the estimator gain. Numerical
simulations demonstrate the effectiveness of the proposed method.
