With the rapid development of Internet of Things (IOT) technologies, modern power systems have become complex cyber-physical systems. A large number of smart devices have promoted efficient generation, transmission and distribution in the smart grid. State estimation (SE) is one of fundamental components in smart grid that evaluates the operation state of a grid by using a set of sensor measurements and grid topologies. A major issue is the authenticity of the measurements collected by the sensors. Specifically, the false data injection attack (FDIA) aims to temper the information that reflect the grid operation state. In this paper, we propose an efficient prediction-based FDIA detection and location scheme, PDL, in which the state vector of smart grid can be represented as multivariate time series, and can be predicted by vector autoregressive processes (VAR) through intentionally exploiting the temporal and spatial correlations of states. Different from most previous works which assumed the state transfer matrix constant and diagonal, a time-varying and non-diagonal matrix is adopted in this scheme. Then, the consistency between the predicted measurements and the observed measurements is utilized to detect and locate abnormal data. Besides, the detected abnormal data can be replaced with the predicted data, which simplifies the calibration process. Extensive simulation results verify the performance of the proposed scheme.