Algorithm 1  Detection scheme based on the ${\chi }^2$ test

Input: $\widehat{z}$ Output: f Initialization: $f=0$  1: ${\widehat{x}}_{\mathrm{MVUE}}={({\Phi }^{\top }{P}^{-1}\Phi )}^{-1}{\Phi }^{\top }{P}^{-1}\widehat{z}$  2: $r=\widehat{z}-\Phi {\widehat{x}}_{\mathrm{MVUE}}$  3: $\zeta ={\left(P-\Phi {({\Phi }^{\top }{P}^{-1}\Phi )}^{-1}{\Phi }^{\top })\right)}^{-\frac{1}{2}}r$  4: $g={\zeta }^{\top }\zeta$  5: if $g\le {\Delta }_{TH}$then  6:    $f=0$  7: else if  $g>{\Delta }_{TH}$ then  8:    $f=1$  9: end if