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In view of the lithium ion battery ohm resistance changes with temperature, this paper proposes a two step unscented h-infinity filtering lithium battery state estimation method with considering internal resistance time-varying characteristics. First of all, the paper models the lithium battery and internal impedance separately, and correct model parameters real-time based on the battery internal resistance prediction model in Thevenin model. Second, the disturbance of measurement noise on estimation accuracy is reduced by the extension of unscented transform into h-infinity filtering framework. The method improves the estimation precision of the battery charged state. Finally, the battery charge and discharge experiments in the laboratory environment show that this method has high estimation precision.