Well, now I figured out that
https://web.njit.edu/~gary/322/assets/Astrometry.net_uncertainties.pdf is somehow correct, but just missing to divided by the square root of N (number of rows), to get the
variation of the mean of the pixel error at sub-pixel level. I guess it is what I want, the rms of the fit of the coordinate transformation (The mean should around 0 and more reference stars the uncertainty gets lower). While what I have in the above reply is the the expect pixel error of single detections, which involves error of star extraction, and star motion, which is at several pixel level.
I hope I explained clearly and please correct me if I am wrong.
best,
Jerry