This paper concerns the applications of the Kalman filter to navigation and the develment of computer programs of the navigational calculations. Methods to apply the Kalman filter to celestial fix, fix by cross bearing and cocked hat are proposed, and numerical simulations under various noise conditiions are conducted. The accuracy of the optimal positions obtained by the Kalman filter is compared with that of the fixed positiions by radial error method. In the case of celestial fix, an algorithm to estimate the optimal positions by using the linear Kalman filter is presented. The optimal positions by the Kalman filter are compared with the running fixes and with the most probable positions obtained from a single line of position. It is confirmed that the resutls of the proposed method are more accurate than the others. In practical piloting, bearings are generally measured intermittently and the measurement process is nonlinear. It is, therefore, difficult for us to apply the Kalman filter to fix by cross bearing. In order to be used in such an unfavorable case, the extended Kalman filter is revised and the aplicability of the revised extended Kalman filter is checked by numerical simulation under various noise conditions. In a cocked hat, an inside or outside fix is dependent only upon azimuth spread, if the error of each line of position is assumed to be equal both in magnitude and sign. A new technique of selecting a ship's position between an inside fix and an outside fix in a cocked hat by using fix determinant derived from the equation of three lines of position is also presented. The relations among the optimal position by Kalman filter, incentre (or excentre) and random error centtre of the cocked hat are discussed theoretically and the accuracy of the optimal position is compared with that of the others by numerical simulation.

In this paper, we have investigated the tidal characteristics of the Nakdongpo estuary. We have carried out the analysis of harmonic constant with the use of the recorded data on tidal level at the Gadeong Do tide station and analyzed the flow velocity data obtained by ourselves at two points in the Nakdongpo estuary. In addition, we have analyzed the variation of the mean-sea level. Typical items of the characteristics we have found are; (1) The principal harmonic constants and non-harmonic constants are shown in table 2. (2) Tide in this area shows the semidiurnal inequality. (3) The mean-sea level is shown to be depressed at the rate of about 1cm to the rise of 1 mbar of the atmospheric pressure. (4) (i) At $K_2$ point, The E-W component of the velocty reveals the nature of progressive waves. The N-S component reveals the nature of stationary waves. (ii) At $K_3$ point, The E-W component shows the characteristics of progressive waves to some degree. The N-S component shows a weak hint of stationary waves. (5) At $K_2$ point, S-component is predominant due to the flow of river. At $K_3$ point, E-component is predominant due to the Tsushima current.

A lot of studies of ship's economy are on the traditional fields such asreducing propulsion resistance, raising cargo handling rates and lessening building consts, but there are few researches on the merchant ship's economy concerning their deadweights and speeds according to shipping companies managerial cercumstances. Contrary to the contemporary trend that "the bigger, the better, if the cargo handling rate could increased sufficiently to hold down port time to that rate of smmaler vessels", this paper demonstrates the existence of certain limits in ship's size and speed according to the coditions of the freight rates, voyage distances, cargo handing rates, prices of fuel oil, interst rates etc. Fom the curves of criteria contour for various ship's deadweights and speeds which are depicted from the gird search method, one can get the costs and the yearly profit rates under the conditiions of large volume with long term contracts for the transportation of bulk cargoes. In estimating ship's transportation economy, the auther takes the position that the profit rate method is properer than the cost method, and introduces the calculation table of the voyage profit rate index. The use of the criteria contours will be of help to ship owners in determining the size and speed of the ship which will be built or purchased and serve in a certain trade route.

Ship technology has advanced in many diverse directions in recent years, a trend that can be expected to continue. The effect of this both on the physical equipment now being usedand under construction and on the attitude of mind of many of those responsible for its operation is profound. The technological changes in shipping have brought about an increasing trend towrard more delegation of authority from shoreside to ship management. With increased shipboard responsibility the shipping industry would benefit from seeming that more of the management subjects were learned by nautical students. It is clear advantage that companies should draw into their general management structure men with seafaring experience. At the same time the the boards of shipping companies should include more men with high technological qualificatiions and experience.