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

Table 2

Classes and attributes in the marine environment application ontology.

Concept (parent class)	Concept (subclass)	Concept (underlying subclass)	Data type attribute	Object attribute
Marine_Environment	Water_Target	Target_Distance	hasDistance	is_subclass_of is_a is_instance_of is_attribute_of is_part_of
		Target_Orientation	hasOrientation
	Sea_Density	Sea_Temperature	hasTemperature
		Sea_Salinity	hasSalinity
		Sea_Pressure	hasPressure
	Current	Current_Velocity	hasValue
		Current_Orientation	hasDirection