The　method　of　directly　using　speed　information　and　angle　information　to　drive　attractors　model　of　grid　cells　to　encode　environment　has　poor　anti-interference　ability　and　is　not　bionic.　In　response　to　the　problem,　this　paper　proposes　a　grid　field　calculation　model　based　on　perceived　speed　and　perceived　angle.　The　model　has　the　following　characteristics.　Firstly,　visual　stream　is　decoded　to　obtain　visual　speed,　and　speed　cell　is　modeled　and　decoded　to　obtain　body　speed.　Visual　speed　and　body　speed　are　integrated　to　obtain　perceived　speed　information.　Secondly,　a　one-dimensional　circularly　connected　cell　model　with　excitatory　connection　is　used　to　simulate　the　firing　mechanism　of　head　direction　cells,　so　that　the　robot　obtains　current　perception　angle　information　in　a　biomimetic　manner.　Finally,　the　two　kinds　of　perceptual　information　of　speed　and　angle　are　combined　to　realize　the　driving　of　grid　cell　attractors　model.　The　proposed　model　was　experimentally　verified.　The　results　showed　that　this　model　could　realize　periodic　hexagonal　firing　field　mode　of　grid　cells　and　precise　path　integration　function.　The　proposed　algorithm　may　provide　a　foundation　for　the　research　on　construction　method　of　robot　cognitive　map　based　on　hippocampal　cognition　mechanism.　Copyright　©2020　Journal　of　Biomedical　Engineering.　All　rights　reserved.