Practical Signal Processing by Owen might be a lead worth looking into. It was recommended by Ossmann in his HackRF tutorial videos (he created the HackRF). It

Practical Signal Processing by Owen might be a lead worth looking into. It was recommended by Ossmann in his HackRF tutorial videos (he created the HackRF). It's gonna fall near the extreme end of succinctness. I had since purchased the book but haven't gone more than a couple chapters deep. It definitely looks like it allows you to dive into the meat of DSP. Don't know if it will fit the bill for rigorous. I also didn't pay anything near what it's currently listing for on Amazon.