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Target tracking is a typical and important cooperative sensing application of wireless sensor networks. We study it in its most basic form, assuming the binary sensing model in which each sensor can return only 1-bit information regarding target's presence or absence within its sensing range. A novel, real-time and distributed target tracking algorithm is proposed. The algorithm reduces the uncertainty of the target location from a two-dimensional area into a one-dimensional arc and estimates the target velocity and trajectory in a distributed and asynchronous manner. Extensive simulations show that our algorithm achieves good performance by yielding highly accurate estimates of the target's location, velocity and trajectory.