Over on his website P. Lutus has written up a useful article that introduces us to some common SDR hardware (RTL-SDRs, upconverters and the HackRF), mentions some common SDR software, and then dives into some SDR theory explaining concepts like the frequency domain and IQ sampling.
The theory sections in particular are explained quite intuitively with animated and interactive graphs that really help with visualizing the math. The explanations are short and not math heavy, so if you have half an hour you can learn some of the basic theory behind making SDRs work.

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