I built a variant to very successfully estimate state of charge for a large battery pack in a production hybrid-electric vehicle. Often some tweaks from the st

I built a variant to very successfully estimate state of charge for a large battery pack in a production hybrid-electric vehicle. Often some tweaks from the standard formula are necessary to account for real-world non-linearities, and some creative design work is required to define states in such a way that the Gaussian noise assumption can hold well enough.