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Statistical inference of a parameter from measurements on an ensemble of independent particles is lower bounded by the classical precision limit or the standard quantum limit (SQL). Quantum entangled ensembles can beat the SQL. A number of paradigms for such enhanced interferometry is discussed, and illustrative experiments carried out with Bose-Einstein condensed atoms are reported. Many atom entangled states with reduced quantum noise are deterministically generated and applied in linear interferometry, effective time reversed evolutions of entanglement generation interactions are engineered for nonlinear interferometry to amplify signal preferentially over noise, both demonstrating enhanced precisions.