SAAAR is now known as RNP AR (Authorisation Required). There are 3 fundamental requirements and, in no particular order they are :-
1. Certification of the approach procedure; and
2. Certification of the aircraft that will be used to fly the procedure, to ensure that it is appropriately equipped for the approach; and
3. Certification of the crew of the aircraft, to ensure competency in conducting the approach.
The only information I'm aware of is the ICAO Manual of Performance Based Navigation (PBN). You'll have to buy that from ICAO but, as it's heavily into the actual design criteria, may not be what you're looking for. If you're asking from the perspective of a pilot to fly the procedure, you will require specific training that will be legislated by your national regulator and will be required to demonstrate competence in normal and emergency procedures while maintaining the very tight performance requirements of the approach.
If you're seeking approval to fly these procedures, you should consult your company's Training and Checking organisation.