The problem existed in the sensor management algorithm based on efficacy function was analyzed.By introducing the idea of centralized sequential Kalman Filter algorithm the covariance self-adaptive sensor management algorithm was applied to the calculation of efficacy function and the automatic updating of sensor-target pairing coefficient was realized.Combined with target priority a self-adaptive sensor allocation algorithm based on efficacy function was presented.The simulation showed that limited sensor resources can not only be distributed dynamically according to the expected precision but also be adjusted based on the target priority which makes the sensor allocation more reasonable and effective.