Abstract: Aiming at the problems of noise and poor robustness of extended Kalman filter algorithm, this paper carries out pulse discharge experiments and the least square off-line identification at different temperatures based on the second-order RC equivalent circuit model. Then, the double adaptive robust extended Kalman filter (DAREKF) algorithm is proposed to jointly estimate the model parameters and SOC online. The simulation results show that, compared with AREKF algorithm, the proposed algorithm can keep the SOC estimation error within 1.14% at room temperature. At a low temperature, the closer to 0°C, the smaller the error of the algorithm.