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

Table 7

Threat probability of the insufficient energy margin event to UUV task.

t (s)	t	t + 1	t + 2	t + 3	t + 4	t + 5	t + 6	t + 7	t + 8	t + 9	t + 10	t + 11
P	0.45	0.57	0.65	0.76	0.83	0.89	0.95	1	1	1	1	1