Quantum error correction (QEC) is necessary for any prospective quantum computation in the near future. Canonical QEC schemes use projective von Neumann measurements on certain parity operators (stabilizers) to discretize the error syndromes into a finite set, and fast unitary gates are applied to recover the corrupted information [1]. We call such QEC schemes discrete quantum error correction codes (DQEC). To date, DQEC has proven very difficult to implement experimentally and so far has been demonstrated with limited success in a few platforms that include ion traps [2-4], diamond NV centers [5], and superconducting circuits [6][7][8][9][10][11][12][13]. A less explored alternative is the use of weak continuous measurements instead of projective measurements, first proposed theoretically about two decades ago [14,15], which has been recently demonstrated experimentally [16]. Such QEC schemes are known as continuous quantum error correction codes (CQEC) and in principle can be executed faster than DQEC. However, CQEC requires meticulous filtering of noisy continuous measurement data to reliably extract error syndromes on the basis of which errors could be detected. In this work, we show that by constructing a real-time measurement-based estimator (MBE) of the real logical qubit to be protected, which is driven by the noisy continuous measurement currents of the stabilizers, it is possible to accurately track the actual errors occurring within the real qubits in real-time. We use this MBE to develop a novel continuous quantum error correction (MBE-CQEC) scheme that can protect the logical qubit to a high degree, and also allows the error correction to be applied either immediately or at a later time.