State of charge estimation for lithium-ion battery based on an intelligent adaptive unscented Kalman filter

Daoming Sun, Xiaoli Yu, Cheng Zhang, Chongming Wang, Rui Huang

Research output: Contribution to journalArticle


Adaptive unscented Kalman filter (AUKF) has been widely used for state of charge (SOC) estimation of lithium-ion battery. The noise covariance of the conventional AUKF method is updated based on the innovation covariance matrix (ICM), which is estimated using the error innovation sequence (EIS). However, the distribution of EIS changes due to the time-varying noise, load current dynamics and modelling error, which will lead to inaccurate ICM estimation. Therefore, an intelligent adaptive unscented Kalman filter (IAUKF) method is proposed to detect the distribution change of EIS. Then, the ICM is estimated based on the EIS after the distribution change. Results show that the IAUKF method can improve SOC estimation accuracy significantly. Compared with that of the AUKF method, the root mean squared error and the mean absolute error of SOC based on the IAUKF method decrease by 43.70% and 72.37% under random walk discharge condition, respectively. In addition, the computation time of the IAUKF method slightly increases by 6.27% compared with that of AUKF method. Finally, the effect of initial parameters on the SOC estimation accuracy was analysed. The results indicate that proper algorithm tuning, such as initial window length of EIS for ICM update and the threshold value, can further improve the SOC accuracy based on the proposed IAUKF method. The proposed IAUKF method also shows high robustness against initial measurement noise covariance.
Original languageEnglish
Pages (from-to)11199-11218
Number of pages20
JournalInternational Journal of Energy Research
Issue number14
Early online date11 Aug 2020
Publication statusE-pub ahead of print - 11 Aug 2020


  • distribution change
  • error innovation sequence
  • intelligent adaptive unscented Kalman filter
  • lithium-ion battery
  • state of charge

ASJC Scopus subject areas

  • Renewable Energy, Sustainability and the Environment
  • Nuclear Energy and Engineering
  • Fuel Technology
  • Energy Engineering and Power Technology

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