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This paper deals with spatio-temporal field estimation with efficient sensor placement based on the QR decomposition. The proposed method also identifies the optimal number of sensors needed for field estimation that captures the most relevant features of the field of interest. To address the uncertainties inherent in spatio-temporal field estimation, a robust data-driven control method is utilized, providing resilience against unpredictable environmental and model changes. In particular, the approach uses the Kriged Kalman Filter (KKF) for uncertainty-aware field reconstruction. Unlike other reconstruction methods, the positional uncertainty originating from the data acquisition platform is integrated into the KKF estimator. Numerical results are presented to show the efficacy of the proposed dynamic sensor placement strategy together with the KKF field estimator. [ABSTRACT FROM AUTHOR]