Precise measurement is crucial to science and technology. However, the rule of nature imposes various restrictions on the precision that can be achieved depending on specific methods of measurement. In particular, quantum mechanics poses the ultimate limit on precision which can only be approached but never be violated. Depending on analytic techniques, these bounds may not be unique. Here, in view of prior information, we investigate systematically the precision bounds of the total mean-square error of vector parameter estimation which contains $d$ independent parameters. From quantum Ziv-Zakai error bounds, we derive two kinds of quantum metrological bounds for vector parameter estimation, both of which should be satisfied. By these bounds, we show that a constant advantage can be expected via simultaneous estimation strategy over the optimal individual estimation strategy, which solves a long-standing problem. A general framework for obtaining the lower bounds in a noisy system is also proposed.
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