1. A process for sound source localization with a plurality of pairs of microphones with known spatial relationship, comprising: receiving signals from the plurality of pairs of microphones into a memory as a plurality of frames; processing each frame of the signals from the plurality of pairs of microphones to identify when the received signals are active in the frame; computing frequency spectrum data for each frame of the received signals; for each pair of active signals in a frame, determining a candidate angle of sound arrival on the plurality of pairs of microphones using the frequency spectrum data; and selecting, for a current frame, an angle of sound arrival on the plurality of pairs of microphone from among the candidate angles determined for the current frame, by: tracking a history of candidate angles determined for multiple frames; updating the history based on the candidate angles determined for the current frame; and selecting, as the angle for the current frame, an angle from the history having a phase distortion less than or equal to a minimum phase distortion of the candidate angles and similar to a highest ranked candidate angle determined for the current frame.