The book explains the basics of Ambisonics and provides psychoacoustic, acoustic and mathematical knowledge for recording and playback in the higher order Ambisonic format. It contains practical examples and historical background. A mathematical appendix is included to make the complex mathematics accessible. The book is aimed at scientists and sound engineers seeking a deeper understanding of Ambisonic technologies, and also covers modern techniques such as higher-order Ambisonic decoding and 3D audio effects.