Collaborative filtering has been widely used in recommendation systems to recommend items that users might like. However, collaborative filtering based recommendation systems are vulnerable to shilling attacks. Malicious users tend to increase or decrease the recommended frequency of target items by injecting fake profiles. In this paper, we propose a Kalman filter-based attack detection model, which statistically analyzes the difference between the actual rating and the predicted rating calculated by this model to find the potential abnormal time period. The Kalman filter filters out suspicious ratings based on the abnormal time period and identifies suspicious users based on the source of these ratings. The experimental results show that our method performs much better detection performance for the shilling attack than the traditional methods.