Accurately estimating the state of charge (SOC) is crucial for energy storage battery management systems as it ensures battery performance and extends lifespan. However, existing deep learning-based methods often overlook the dynamic process information during battery charging and discharging, which compromises the accuracy of SOC estimation. To address this limitation, this paper proposes a novel SOC estimation method. First, we employ differential processing on the collected voltage, current, and temperature data to capture dynamic feature changes. Next, all features are normalized to ensure they are on the same scale. Finally, the processed data is divided into sliding windows and input into the TCN-BiLSTM-Attention Net (TBANet) model for SOC estimation. The results show that compared with traditional deep learning based SOC estimation methods, adding incremental features to TBANet improves the estimation accuracy by 15.8%. The average absolute error and root mean square error of the experimental results are 0.72% and 0.91%, respectively. In addition, this approach adopts transfer learning methods to verify the strong adaptability of the proposed method on different datasets, which highlights the robustness of TBANet and its potential for wide applicability in real-world scenarios.