The Golden Altar was a type of Christ our altar, the altar of sacrifice (consecration) and praise This typified our perfect consecration to God for service in which we enter the holiest of all, the fullness of his presence,  Rom 12:1,2;  Heb 10:19-23.   
 

The Altar of Incense was also made of acacia wood covered with beaten gold. (fine gold leaf built up in layers) Upon it burned a mixture of precisely measured ingredients, specified by the Lord. These ingredients were to be used only in the Tabernacle and later the temple, but never in anything else in that precise measure. It also has horns, as did the Altar of Sacrifice, these represent power and authority. This is a sacrificial altar as well, but not one of the flesh, but one totally of the Spirit.

 This is the place of intercession. The Torah speaks of prayers as sweet incense. The incense burned continually, night and day upon it. This is the last stop before entering into the presence of the Lord. We are to pray without ceasing, to pray on all occasions, to offer the sacrifice of praise , the fruit of lips that confess his name. The Altar is in the center of the room because prayer is access to God. Yeshua (Jesus) is forever standing at the right hand of God himself, interceding for us. We gain access to God first through his prayers for us, and then our own.