If you'd prefer to use autolayout, and want a permanent fixed image in the navigation bar, that doesn't animate in with each screen, this solution works well:
class CustomTitleNavigationController: UINavigationController {
override func viewDidLoad() {
super.viewDidLoad()
let logo = UIImage(named: "MyHeaderImage")
let imageView = UIImageView(image:logo)
imageView.contentMode = .scaleAspectFit
imageView.translatesAutoresizingMaskIntoConstraints = false
navigationBar.addSubview(imageView)
navigationBar.addConstraint (navigationBar.leftAnchor.constraint(equalTo: imageView.leftAnchor, constant: 0))
navigationBar.addConstraint (navigationBar.rightAnchor.constraint(equalTo: imageView.rightAnchor, constant: 0))
navigationBar.addConstraint (navigationBar.topAnchor.constraint(equalTo: imageView.topAnchor, constant: 0))
navigationBar.addConstraint (navigationBar.bottomAnchor.constraint(equalTo: imageView.bottomAnchor, constant: 0))
}