Aiming at problem of tracking precision and energy consumption

a target tracking collaborative algorithm with energy-balanced is proposed in wireless sensor networks（ WSNs） application of target tracking. This algorithm use regular hexagon grid as clustering model

and some proper clusters can be dynamically awaken to estimate target state. Furthermore

the concept"virtual cluster heads"is introduced to optimize cluster head election strategy. Simulation analysis show that compared with the central Kalman filter algorithm

the proposed algorithm not only has the approximate estimation performance

but also lack of the strict request for cluster head node. In addition

through the adaptive dynamic cluster head election strategy

it balances energy consumption of nodes effectively

as a result

improves the robustness of the systems.