In this paper,first,a target-tracking algorithm for distributed wireless sensor networks is presented based on the theory of extended Kalman filtering（EKF） estimation.Then,a collaborative scheduling strategy based on the neighbor node set and an AODV（Ad Hoc On-Demand Distance Vector） topology control strategy using the backoff mechanism are proposed to implement the dynamic adaptive switching of task nodes and topologies in a distributed environment.Moreover,a prototype of target tracking equipped with MicaZ hardware nodes and ultrasonic sensors is developed to track and locate moving targets.The results verify the correctness of the proposed algorithm.