Crassidis (mechanical and aerospace engineering, State University of New York-Buffalo) and Junkins (Center for Mechanics and Control, Texas A&M University) introduce fundamentals of estimation to engineers, scientists, applied mathematicians, and advanced students, using dynamic models from mechanical and aerospace engineering to provide results of estimation concepts with a minimal reliance on mathematical skills. Coverage encompasses central concepts and methods of optimal estimation theory, and includes rigorous theoretical derivations and qualitative discussion in the context of solving example problems. Analytical and computer-based problems are included.