Sensor-based navigation is one of the most important researches for mobile robots domain and then there are many research works for sensor-based navigation. We propose the insects inspired landmark navigation to pinpoint the target position in this paper. There exist several research works such as snapshot model and average landmark model which request the absolute bearing information (compass) and visual one. Whereas our method called relative angle model (RAM) need only visual information in order to extract relative positions of 3 landmarks. By simulation and experiment using 3D blimp-type flying robot, we find that the pinpoint 3D navigation works out well by RAM.