Uni. prof here/shameless plug: I developed a general education class for college students about the 'history of navigation' which includes the science behind navigation and why clocks and (accurate) timekeeping are needed for navigation. I wrote a book about it all I use for the class, if anyone's interested: https://www.amazon.com/Longitude-Time-Navigation-Tom-Bensky-.... I was inspired by Sobel's book, but I needed more math and science in the discussions.
Also, if you can find the book by Williams called "From Sails to Satellites: The Origin and Development of Navigational Science" you'll laugh out loud at his wit about navigation throughout the book.
Also, if you can find the book by Williams called "From Sails to Satellites: The Origin and Development of Navigational Science" you'll laugh out loud at his wit about navigation throughout the book.