We derive a quantum Cramér-Rao bound (QCRB) on the error of estimating a time-changing signal. The QCRB provides a fundamental limit to the performance of general quantum sensors, such as gravitational-wave detectors, force sensors, and atomic magnetometers. We apply the QCRB to the problem of force estimation via continuous monitoring of the position of a harmonic oscillator, in which case the QCRB takes the form of a spectral uncertainty principle. The bound on the force-estimation error can be achieved by implementing quantum noise cancellation in the experimental setup and applying smoothing to the observations.
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