I would not say the book is advanced. A college degree and one semester of LISP instruction, (and maybe access to an "old timer") should be sufficient if you patiently work your way through. The latter chapters are relatively independent of each other, so don't worry if a section seems too hard.
The chapter on GPS is of historical interest, but so obviously dated that I did not work any of the examples in this chapter - but that's the strength of the book - different people will find different chapters interesting.