系统梳理医疗无人机在飞行与控制中的关键技术挑战。
A Survey of Medical Drones from Flight Dynamics, Guidance, Navigation, and Control Perspectives
- 从飞行动力学与导航控制角度分析医疗无人机设计需求
- 揭示振动、温湿度等环境因素对医疗物资的影响
- 适合无人机控制、医疗物流领域研究者参考
无人机在医疗领域的应用正重塑医疗资源配送方式，实现偏远或灾后区域快速运送药品、器官及紧急救援。现有综述多关注医疗供应链与应急响应，本文则聚焦飞行动力学及制导、导航与控制（GNC）系统。首先分析医疗空中投送任务需求与合适的无人航空系统配置；随后探讨载荷容器设计及其对飞行特性的影响；进一步研究GNC系统在振动、温度、气压、湿度等环境因素下的基础原理，指出这些因素对医疗物资质量的潜在影响；评估多种可缓解上述挑战的GNC算法及其局限性。本文旨在为优化医疗无人机的GNC框架提供洞见，指出现有研究空白与未来改进方向，推动其在真实医疗场景中的落地应用。
原文摘要 · Abstract (English)
The integration of drones into the medical field has revolutionized healthcare delivery by enabling rapid transportation of medical supplies, organs, and even emergency assistance in remote or disaster-stricken areas. While other survey papers focus on the healthcare supply chain, operations, and medical emergency response aspects, this paper provides a comprehensive review of medical drones from the perspectives of flight dynamics and guidance, navigation, and control (GNC) systems. We first discuss the medical aerial delivery mission requirements and suitable uncrewed aerial system (UAS) configurations. We then address payload container design and optimization, and its effect on supplies and overall flight dynamics. We also explore the fundamental principles of GNC in the context of medical drone operations, highlighting key challenges arising from vibration, air temperature, pressure, and humidity, which affect the quality of medical supplies. The paper examines various GNC algorithms that can mitigate these challenges, as well as the algorithms' limitations. With these considerations, this survey aims to provide insights into optimizing GNC frameworks for medical drones, emphasizing research gaps and directions to improve real-world healthcare applications.
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