With the wide application of lithium batteries, battery fault prediction and health management have become more and more important. This article proposes a method for predicting the remaining useful life (RUL) of lithium-ion batteries to avoid a series of safety problems caused by continuing to use the battery after reaching its service life threshold. Since the battery capacity is not easy to obtain online, we propose that some measurable parameters should be used in the battery discharge cycle to estimate battery capacity. Then, the estimated capacity is used to replace the measured value of the particle filter (PF) based on the Kendall rank correlation coefficient (KCCPF) to predict the RUL of the lithium batteries. Simulation results show that the proposed method has high prediction accuracy, stability, and practical value.