A new sound source localization and tracking method based on microphone array is presented for speaker tracking problem in noisy and reverberant environments.In the framework of particle filtering

the echo-free onset signal is extracted according to the echo-avoidance model of the precedence effect

and likelihood function is constructed by the output power of beamformer.Considering the effects of different frequency components on localization and tracking

layered sampling approach is used to improve the computational efficiency of particle filter.The results of simulation data and real data show that the proposed method can reliably track the speaker even in moderately reverberant rooms.