Yes you can use an array.
What you should do really is create your array and then input it into the factory of the Zend_Navigation to create your pages for you.
Unfortunately my code is too complicated to show an example of how I used it. But I'll provide a simple example...
Once you create your navigation container, you can just add new pages to it.
Like
$this->navigation()->addPage(array(
'type' => 'uri',
'label' => 'New page'));
But you can also use addPages(). This is what I do.
I think you should just wait for the documentation to load back up for you and then look at that. Its really easy in fact.
When you have a more specific question, just ask that and give me a poke. I've had to use Navigation quite a lot so know it quite well.
Additionally, check out #zftalk on freenode. Theres lots of help on there.