Chapman's should be in your local library, or library exchange system. There's a lot of good stuff in it even if you buy an older edition secondhand.
Mixter's "Primer of Navigation" is a true classic that covers the whole history
and development, probably out of publication and written very much as a "primer" or textbook, but worth chasing down a copy if you can get it.
And then there's Bowditch aka "The American Practical Navigator" which can be found in many sources. A huge work but also available online in PDFs for free.