Abstract: An accurate time delay extraction method based on endpoint detection is proposed to solve the problem of large time delay error in pulse sound source location. In this method, the signal filtering and endpoint detection are performed firstly, and then the effective segment is intercepted and the time delay is estimated by generalized cross-correlation (GCC) method. The accurate time delay is extracted by using the information obtained by the endpoint detection, and the sound source position is solved by the simplex substitution method. Based on the accurate time delay extraction method, a sound source positioning scheme is designed. Experimental results show that this method can effectively reduce the influence of non-Gaussian white noise and indoor reverberation, and the positioning accuracy can be up to decimeter or even centimeter with better robustness.