PurposeThis study aims to propose a method for monitoring bearing health in the time–frequency domain, termed the Lock-in spectrum, to track the evolution of bearing faults over time and frequency.Design/methodology/approachThe Lock-in spectrum uses vibration signals captured by vibration sensors and uses a lock-in process to analyze specified frequency bands. It calculates the distribution of signal amplitudes around fault characteristic frequencies over short time intervals.FindingsExperimental results demonstrate that the Lock-in spectrum effectively captures the degradation process of bearings from fault inception to complete failure. It provides time-varying information on fault frequencies and amplitudes, enabling early detection of fault growth, even in the initial stages when fault signals are weak. Compared to the benchmark short-time Fourier transform method, the Lock-in spectrum exhibits superior expressive ability, allowing for higher-resolution, long-term monitoring of bearing condition.Originality/valueThe proposed Lock-in spectrum offers a novel approach to bearing health monitoring by capturing the dynamic evolution of fault frequencies over time. It surpasses traditional methods by providing enhanced frequency resolution and early fault detection capabilities.