The SOC estimation method based on Kalman Filter(KF) requires the accurate battery model to express the electrical characteristics of the battery. However, the performance of KF SOC estimator can hardly be improved because of the nonlinear characteristic of the battery. This paper proposes the new KF SOC estimator of Lithium-Polymer Battery(LiPB), which considers the variation of parameters based on the hysteresis effect, the magnitude of SOC, the charging/discharging mode and the on/off load conditions. The proposed SOC estimation method is verified with the PSIM simulation combined the experimental data of the LiPB.