Reasoning Methods of Unmanned Underwater Vehicle Situation Awareness Based on Ontology and Bayesian Network

Table 1

The UUV detection data according to the types of uncertain events.

Marine environment data	UUV platform status data	Task status data
Seawater temperature	Platform depth	Task time
Seawater salinity	Platform height	Task position
Target distance	Battery voltage (power, meter)	Task requirement
Target position	Propeller status (left main push, right main push)	GPS timing correction
Ocean current size	Steering gear state (rudder, elevator)	Antenna motor angle of the task module
Ocean current direction	Number of leaking points (battery compartment, instrument compartment)	Motor angle of the composite antenna