A history storage means for storing a history of hull movement data, a hull state data calculation means for calculating the current hull state data of the hull based on the history of the hull movement data stored by the history storage means, Cross spectrum calculation means for calculating the cross spectrum of each hull motion of rolling, pitching and vertical shaking of the hull based on the history, and hull response function calculating means for calculating the hull response function based on the hull state data And sea condition estimating means for estimating the sea condition in the sea area where the ship is navigating based on the cross spectrum of each ship motion and the ship response function.
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