Recently, hardware Trojan has become a serious security concern in the integrated circuit (IC) industry. Due to the globalization of semiconductor design and fabrication processes, ICs are highly vulnerable to hardware Trojan insertion by malicious third-party vendors. Therefore, the development of effective hardware Trojan detection techniques is necessary. Testability measures have been proven to be efficient features for Trojan nets classification. However, most of the existing machine-learning-based techniques use supervised learning methods, which involve time-consuming training processes, need to deal with the class imbalance problem, and are not pragmatic in real-world situations. Furthermore, no works have explored the use of anomaly detection for hardware Trojan detection tasks. This paper proposes a semi-supervised hardware Trojan detection method at the gate level using anomaly detection. We ameliorate the existing computation of the Sandia Controllability/Observability Analysis Program (SCOAP) values by considering all types of D flip-flops and adopt semi-supervised anomaly detection techniques to detect Trojan nets. Finally, a novel topology-based location analysis is utilized to improve the detection performance. Testing on 17 Trust-Hub Trojan benchmarks, the proposed method achieves an overall 99.47\% true positive rate (TPR), 99.99\% true negative rate (TNR), and 99.99\% accuracy.