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

Table 5

Conditional probability table (CPT).

P (Threat_Mission)	Obstacle		Energy_Margin		Leakage_Points		Thruster		Abnormal_Task_Load		Steering_Gear
	0–130 m	130 m+	Enough	Danger	None	Large	Good	Bad	Good	Bad	Good	Bad
Safe	0.12	0.81	0.82	0.13	1	0.32	0.81	0.28	0.13	0.8	0.8	0.3
Dangerous	0.88	0.19	0.18	0.87	0	0.68	0.19	0.72	0.87	0.2	0.2	0.7