Unmanned aerial vehicle sound source positioning method and device, unmanned aerial vehicle and readable storage medium

The invention relates to an unmanned aerial vehicle sound source positioning method based on a microphone array. The method comprises the following steps: acquiring a sound source sound signal to be processed; performing human voice detection on the sound source sound signal, and extracting a human voice sound signal and a non-human voice sound signal; according to a topological structure of the microphone array, calculating sound direction source values of the human voice signal and the non-human voice signal; and for each azimuth angle, carrying out differential processing on the sound direction source value of the corresponding human voice signal and the sound direction source value of the corresponding non-human voice signal, and determining the azimuth angle corresponding to the maximum value of the sound direction source value in the differential result as the human voice source orientation, so that the positioning accuracy of the human voice source can be improved. 本发明涉及一种基于麦克风阵列的无人机声源定位方法，包括步骤：获取待处理的声