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In this paper, a novel method for voiced-unvoiced decision within a pitch tracking algorithm is presented. Voiced-unvoiced decision is required for many applications, including modeling for analysis/synthesis, detection of model changes for segmentation purposes and signal characterization for indexing and recognition applications. The proposed method is based on the generalized likelihood ratio test (GLRT) and assumes colored Gaussian noise with unknown covariance. Under voiced hypothesis, a harmonic plus noise model is assumed. The derived method is combined with a maximum a-posteriori probability (MAP) scheme to obtain a pitch and voicing tracking algorithm. The performance of the proposed method is tested using several speech databases for different levels of additive noise and phone speech conditions. Results show that the GLRT is robust to speaker and environmental conditions and performs better than existing algorithms.