Understanding Ambisonics

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I'm trying to understand just what theory I need to read up on to really understand Ambisonics. Can anyone point me in the right direction? I'm thinking that a fundamental course in partial differential equations may be necessary before further reading up on theoretical acoustics.
 
It really takes only basic algebra and trigonometry to be able to understand. Like just about any clever idea, it's very simple and straightforward- but it involves giving up some basic ideas about how multichannel is divided up.

It was a complete commercial failure because of the practicalities of implementation into average living rooms, but a technical triumph.
 
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