Accurate remaining useful life (RUL) prediction and state-of-health (SOH) diagnosis are of extreme importance for safety, durability, and cost of energy storage systems based on lithium-ion batteries. It is also a crucial challenge for energy storage systems to predict RUL and diagnose SOH of batteries due to the complicated aging mechanism. In this paper, a novel method for battery RUL prediction and SOH estimation is proposed. First, a novel support vector regression-based battery SOH state-space model is established to simulate the battery aging mechanism, which takes the capacity as the state variable and takes the representative features during a constant-current and constant-voltage protocol as the input variables. The estimated impedance variables are taken as the output due to the correlation between battery capacity and the sum of charge transfer resistance and electrolyte resistance. Second, in order to suppress the measurement noises of current and voltage, a particle filter is employed to estimate the impedance degradation parameters. Furthermore, experiments are conducted to validate the proposed method. The results show that the proposed SOH estimation method can provide an accurate and robustness result. The proposed RUL prediction framework can also ensure an accurate RUL prediction result.