calibrating a borehole propagation model (BPM) by estimating a value of at least one parameter of the BPM in real time based on historical data and real time sensor measurements, wherein the estimating includes optimizing an objective function that describes a difference between a trajectory estimated from the BPM and the real time sensor measurements and a deviation between the value of the at least one parameter and a prior value of the at least one parameter determined based on the historical data, wherein the optimizing the objective function includes determining a weighting factor of the at least one parameter based on an amount of information available about the at least one parameter during a calibration, and the information available about the at least one parameter includes a steering action that is associated with the at least one parameter and an attitude plane where the steering action is predominant; and

providing the calibrated BPM to a trajectory controller for determining future control inputs of a directional drilling system, wherein the directional drilling system steers a drill bit based on the future control inputs to bring the drill bit back to a planned trajectory of the borehole.