In the flood prediction research, it is pointed out that the difficulty of flood prediction is the frequently experienced overestimation of flood peak. That is caused by the rainfall prediction difficulty and the nonlinearity of hydrological phenomena. Even though the former reason will remain still unsolved, but the latter one can be possibly resolved the method of the AMRA (Auto Regressive Moving Average) model for each runoff component as developed by Dr. Hino and Dr. Hasebe. The principle of the method consists of separating though the numerical filters the total runoff time series into long-term, intermediate and short-term components, or ground water flow, interflow, and surface flow components. As a total system, a hydrological system is a non-linear one. However, once it is separated into two or three subsystems, each subsystem may be treated as a linear system. Also the rainfall components into each subsystem a estimated inversely from the runoff component which is separated from the observed flood. That is why flood prediction can be done without rainfall data. In the prediction of surface flow, the Kalman filter will be applicable but this paper shows only impulse function method.