See If Hitler Comes - Preparing Scotland for Invasion 1940 by Gordon Barclay.
https://www.amazon.co.uk/If-Hitler-Comes-Preparing-Invasion/dp/1843410621/
It covers the defensive preparations but likely includes some details on the Hitlers' plans.
You can see the extent of anti-invasion defences in Google Earth through the Defence of Britain archeological project:
https://archaeologydataservice.ac.uk/archives/view/dob/download.cfm
As well as coastal defences at possible landing sites like Tentsmuir beach, there were various inland 'stop lines' intended to contain any invasion through the use of natural or artificial barriers.
Auxiliary Units were secretly formed to conduct guerrilla warfare behind German lines.
https://en.wikipedia.org/wiki/Auxiliary_Units
But the greatest challenge is simply that an invasion of Great Britain (as an island) was never feasible (nor was the conquest of Russia). It wasn't just failing to win the Battle of Britain in the air. Germany simply lacked the navy, shipping and industrial base to mount any successful amphibious operation across anything bigger than the Rhine.
The Royal Navy had more destroyers in individual south coast ports than the Germany had in her entire navy. All they had to do was sail past the invasion barges at high speed and their wake would capsize the barges designed for river use. The forces immediately available on the south coast were enough to wipe out any invasion armada long before the Home Fleet sailed down from Scapa Flow.
The Luftwaffe had a poor record against surface ships during the Norway campaign. Meanwhile the Royal Navy would have held nothing back with the very existence of the country at stake. Witness the willingness to commit ships to Dunkirk and Crete.