A sensing data based estimation method is applied to an estimation system, and the estimation system includes a sensor, a storage and a processor. The estimation method includes operations as follows: generating a sensing data via the sensor, and the sensing data has several corresponding time parameters； receiving the sensing data and storing the sensing data to the storage via the processor, and storing a default statistical distribution via the storage in advance； executing transformation for the time parameters of the sensing data according to a default transformation relation, and executing statistical calculation for the transformed time parameters to generate a statistical set via the processor； and comparing the statistical set with the default statistical distribution, and selectively adjusting the default transformation relation according to a difference between the statistical set and the default statistical distribution via the processor, so as to generate an estimation parameter.
