Modern unmanned aerial vehicles (UAVs), including combat drones, are usually equipped with cameras for imaging. A camera is mainly used to increase the accuracy of the attack by ensuring stable-guided flight toward the target when the UAV detects the target in the terminal phase. Despite the high cost of these pieces of equipment, their utilization is in fact low, except during the final stage. The method proposed here extends the range of use of a UAV-mounted camera to the navigation stage. When GPS is unable to estimate the position due to jamming or a sensor error, the possibility of using the position estimation value calculated through vision navigation is described.