In some wireless charging applications where the coil spacing varies in real time, such as UAV, electric boat and tram, etc., the traditional direct impedance matching method is difficult to identify the mutual inductance timely and accurately, thus affecting the efficiency optimization effect of the system. In this paper, an indirect impedance matching method without parameter identification is proposed, this method is based on the characteristic that the optimal voltage gain of the resonator is only related to its inherent parameters, and impedance matching can be achieved by controlling the voltage gain in real time. To further improve the efficiency of the system, a single-sided detuning design method is used to achieve soft switching of the inverter. Based on the optimal voltage gain expression derived by using both the indirect impedance matching method and the single-sided detuning design method, a compound control strategy for a series-series-compensated topology with dual-side power control is proposed to improve efficiency and stabilize the output voltage. A hardware prototype is built and a peak DC-to-DC efficiency with the optimal output resistance RL at about 28.9 Ω is 91.58%. When the output resistance RL is 100 Ω, the efficiency improved by 7% after using the proposed strategy.