Not so much a book as a nautical publication, Having a hard time location NP760 which describes the Hydrographic Chart Raster Format, which is used by the ARCS Navigator (and formerly ARCS Skipper, NZMariner and Australian Hydrographic office) services.
I'm interesting in understanding the internal workings of the HCRF. This usually is provided in an encrypted format (which hopefully is reverse-engineerable), however understanding the format outside of the realm of encryption should be the first step, and this publication describes.
Of course if anyone has the ARCS Manufacturer Security Specification document that describes the detailed HCRF encryption that's even better :-)