I. Introduction
As one of the most widely used mechanical parts, the bearing plays an important role in carrying load and reducing friction loss in mechanical systems [1]. However, the bearing often works in a harsh environment with variable loads. Thus, the bearing is also one of the most vulnerable components in mechanical equipment [2]. If the bearing fault cannot be diagnosed as soon as possible, it may lead to immeasurable accidents. However, in the early stage of bearing fault, due to the influence of background noise and signal attenuation, the signal-to-noise ratio (SNR) of the collected vibration signal is low. How to extract weak fault feature from strong background noise and conduct accurate fault diagnosis for bearings have become a hotspot and difficulty in the field of fault diagnosis of rotating machinery [3].