Abstract: Grid cell is an important neuron cell in the navigation loop of animal brain. It can complete the function of path integration autonomously, and can complete complex environment space navigation with other brain regions. In this paper, the reaction-diffusion mechanism is used to model the formation of grid-cell firing field in autonomous navigation. The synaptic connections between the grid-cell groups, the nonlinear restriction of the grid-cells firing rate, and the response of the excitatory grid-cells to the ego-emotion information are obtained respectively. The simulation results show that the proposed model can effectively simulate the formation process of grid-like firing rate distribution in the grid-cell groups, and the formation process of hexagon firing field of individual grid-cells based on the ego-motion information. The proposed model can provide a reference for the construction of brain-inspired navigation system.