Add Active Class to Active WordPress Navigation Link

I’m developing a WordPress theme from scratch and I’m looking to add an active class to the navigation. I’ve found lots of articles for adding it to a WordPress menu that uses ul and li, but I’m using HTML5 nav and a for the navigation and can’t find how to add class=”active” to the active link.

The PHP code below is what I’m using to call the menu in the themes header.php file:

$headerNavigation = array (
  'menu'       => 'navigation',
  'container'  => 'nav',
  'echo'       => false,
  'items_wrap' => '%3$s',
);
echo strip_tags(wp_nav_menu( $headerNavigation ), '<a><nav>' );

I’m using the following code to register the navigation in the functions.php file:

function register_my_menus() {
  register_nav_menus(
    array(
      'header-navigation' => __( 'Header Navigation' )
    )
  );
}