Not exactly sure what your goal is then.
Sounds like you have a least-squares TMA solution that maybe works, provided you can load it with position data that you don't presently have.
If it works as you say, I could possibly incorporate it into MoBo... maybe. I'd have to look at it.
MoBo functions nicely as a DRT, so you could plot your position/bearing/time inputs and I could have MoBo generate a contact with position and vector based on your formula.
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