State of Charge Estimation for Lithium-Ion Battery by Using Dual Square Root Cubature Kalman Filter

Table 2

Comparison of SOC estimation and execution time.

Method	RMSE	Maximum absolute error	Execution time (s)
DEKF	0.0057	0.0170	0.3995
DSRUKF	0.0037	0.0119	1.1379
DSRCKF	0.0037	0.0119	0.8883