A navigation system and a navigation method for an autonomous vehicle (AV) includes a system controller and an environmental sensor. The system controller determines an AV positional pose, which identifies the location of the AV, which further includes an AV position and an AV orientation in three-dimensional space. Additionally, the system controller determines a frame of reference that is associated with the AV positional pose. The frame of reference includes a coordinate system for the AV position and the AV orientation. A localization module determines the AV positional pose and the corresponding frame of reference. The localization module is associated with the system controller. The system controller then identifies at least one asset feature frame (AFF), which associates the AV positional pose with the feature in the AV environment. The system controller generates a motion control command based the AV positional pose and the AFF.