An Invariant Method for Electric Vehicle Battery State-of-Charge Estimation Under Dynamic Drive Cycles

Abstract

This paper proposes a novel invariant extended Kalman filter (IEKF), a modified version of the extended Kalman filter (EKF), for state-of-charge (SOC) estimation of lithium-ion (Li-ion) battery cells. Unlike conventional EKF methods where the correction term used to update the state is linearly proportional to the output error, this paper employs the IEKF where the correction term is independent of the output error, resulting in a significant reduction in the estimation error and improving the estimation accuracy. In contrast to classic method like the EKF and more contemporary ones like the square root variant of the Cubature Kalman Filter (SCKF), the IEKF can successfully mimic the nonlinear dynamics and mitigate measurement noise stochasticity. Moreover, even if the measurement model fails to fully capture the cell’s dynamics, the IEKF will still sustain a reasonable performance. Hence, IEKF outperforms the conventional EKF, and even the SCKF, which can diverge if a mismatch between the SOC measurement model and the true SOC measurement occurs. The derivation of the proposed method followed by experimental verification using commercial Li-ion battery cells are presented.

Keywords

• Extended Kalman filter
• invariant extended Kalman filter
• EKF
• IEKF