The quantum noise of the vacuum limits the achievable sensitivity of quantum sensors. In non-classical measurement schemes the noise can be reduced to overcome this limitation. However, schemes based on squeezed or Schrödinger cat states require alignment of the relative phase between the measured interaction and the non-classical quantum state. Here we present two measurement schemes on a trapped ion prepared in a motional Fock state for displacement and frequency metrology that are insensitive to this phase. The achieved statistical uncertainty is below the standard quantum limit set by quantum vacuum fluctuations, enabling applications in spectroscopy and mass measurements.