Guo, FengFengGuoCouto, Luis D.Luis D.CoutoTrad, KhiemKhiemTradHong, RuRuHongHu, GuangdiGuangdiHuSafari, MomoMomoSafari2026-09-172026-09-1720262095-4956https://imec-publications.be/handle/20.500.12860/60412Accurate state of charge (SOC) estimation of lithium iron phosphate (LFP) batteries remains challenging because of their flat open-circuit-voltage (OCV)-SOC characteristics, temperature-dependent dynamics, and sensitivity to initialization errors. Here, we propose a physics-guided residual Kalman learning (PRKL) framework for electrochemical-model-based SOC estimation. PRKL combines a control-oriented single-particle-model-based extended Kalman filter (EKF), which provides recursive physical state propagation, with a gated recurrent unit (GRU) residual learner that compensates structured EKF errors using electrochemical states and measurement features. The framework is evaluated on a public graphite/LFP dataset covering three dynamic drive cycles, eight temperatures from −10 to 50 °C, and initialization offsets up to 20%. Using dynamic stress test (DST) and federal urban driving schedule (FUDS) cycles for training and the supplemental federal test procedure (US06) cycle for cross-profile testing within the same cell dataset, PRKL achieves a global average root mean square error (RMSE) of 1.19%, corresponding to a 77% reduction relative to the physics-only EKF. These results show that electrochemical state information can guide residual learning and improve recursive SOC estimation for LFP batteries. The present validation supports cross-profile robustness within the studied dataset and provides a basis for future cross-cell, ageing-aware, and embedded-platform validation.engJournal article10.1016/j.jechem.2026.05.040WOS:001802871200002ION BATTERIESFILTERHEALTH