The invention relates to a 
cognitive map construction method based on space and motion joint coding, and belongs to the technical field of 
robot navigation. A sniffing layer-
hippocampus neural circuitin an internal 
positioning system of the brain of a 
mammal is considered; a continuous 
attractor neural 
network model-
spatial memory network is formed by utilizing spatial navigation coding characteristics of position cells, head orientation cells, grid cells and velocity cells, space and motion characteristics of animals are coded at the same time, and 
path integration is carried out on angularvelocity and linear velocity. In the network, the asymmetric connection weights among the neurons generate 
system inherent activity peaks capable of spontaneously moving, once speed input exists, theattractor network can steadily integrate the linear speed and the angular speed, and stable 
robot head direction and position coding is formed. And local view cells are formed through single-camera visual input, so that the accumulative error of 
path integration can be corrected. According to the invention, a consistent half-meter 
topological map can be stably constructed by using a 
single camera.