Quantum metrology has many important applications in science and technology, ranging from frequency spectroscopy to gravitational wave detection. Quantum mechanics imposes a fundamental limit on measurement precision, called the Heisenberg limit, which can be achieved for noiseless quantum systems, but is not achievable in general for systems subject to noise. Here we study how measurement precision can be enhanced through quantum error correction, a general method for protecting a quantum system from the damaging effects of noise. We find a necessary and sufficient condition for achieving the Heisenberg limit using quantum probes subject to Markovian noise, assuming that noiseless ancilla systems are available, and that fast, accurate quantum processing can be performed. When the sufficient condition is satisfied, the quantum error-correcting code achieving the best possible precision can be found by solving a semidefinite program. We also show that noiseless ancilla are not needed when the signal Hamiltonian and the error operators commute. Finally we provide two explicit, archetypal examples of quantum sensors: qubits undergoing dephasing and a lossy bosonic mode.
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