The unmanned wave glider (UWG) comprises an underwater glider and surface float connected by an umbilical cord. It is a highly adaptable marine vehicle with the advantages of low cost, low power consumption, and long endurance. At present, research on UWG filtering is still immature and not fully utilized. This paper proposes a variable-structure filtering method based on the double-body coupled yaw manoeuvrability response model considering the hysteresis of the umbilical cord. The filtering method contains two core contents:an iteration-mean EKF (IMEKF) method and a variable-structure criterion. The former improves the filtering accuracy by iteration and mean processing of the one-step state prediction and transfer matrix to solve the nonlinear filtering problem of the double-body yaw motion; the latter solves the problem of the switching filtering model according to the tension / relaxation state of the umbilical cord, so that the filtering method is suitable for high sea conditions. Besides, the extended application of the variable-structure filtering method is proposed to replace the yaw motion sensor of the glider, thus reducing the cost and energy consumption of a motion sensor. Numerical simulation experiments were performed to verify the feasibility of the proposed method. The above research results will greatly contribute to the design, filtering, and control of UWGs for engineering applications.

无人滑翔机（UWG）包括水下滑翔机和通过脐带连接的水面浮标。它是一种适应性强的船用车辆，具有成本低，功耗低和使用寿命长的优点。目前，关于UWG过滤的研究仍不成熟，尚未得到充分利用。提出了一种基于双体耦合偏航机动响应模型的变结构滤波方法，该模型考虑了脐带的滞后现象。过滤方法包含两个核心内容：迭代平均EKF（IMEKF）方法和可变结构准则。前者通过单步状态预测和传递矩阵的迭代和均值处理提高了滤波精度，解决了双体偏航运动的非线性滤波问题。后者解决了根据脐带的张力/松弛状态切换过滤模型的问题，因此该过滤方法适合于高海况。此外，提出了可变结构滤波方法的扩展应用，以代替滑翔机的偏航运动传感器，从而降低了运动传感器的成本和能耗。通过数值模拟实验验证了该方法的可行性。以上研究成果将为工程应用中的UWG设计，过滤和控制做出巨大贡献。提出了可变结构滤波方法的扩展应用，以代替滑翔机的偏航运动传感器，从而降低了运动传感器的成本和能耗。通过数值模拟实验验证了该方法的可行性。以上研究成果将为工程应用中的UWG设计，过滤和控制做出巨大贡献。提出了可变结构滤波方法的扩展应用，以代替滑翔机的偏航运动传感器，从而降低了运动传感器的成本和能耗。通过数值模拟实验验证了该方法的可行性。以上研究成果将为工程应用中的UWG设计，过滤和控制做出巨大贡献。