Unmanned aerial vehicle sound source positioning method and device, unmanned aerial vehicle and 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; human voice detection is carried out on the sound source sound signal, a human voice sound signal is extracted, and the human voice sound signal comprises a plurality of sub human voice sound signals in one-to-one correspondence with each microphone of a microphone array; according to the topological structure of the microphone array, calculating the delay phase and the short-time Fourier transform of the sub human voice signal corresponding to each microphone, and for each azimuth angle, calculating the sound direction source value of the human voice signal according to the delay phase and the short-time Fourier transform; and inputting the sound direction source value corresponding to each azimuth angle into a trained back propagation neural network to obtain a sound source orientation. Compared with