Are there design patterns for the design and implementation of file formats?

From time to time, either at work or while hobbying, there comes the need to implement a file format, that is, taking some lengthy document, and to figure out how to implement its data structure / object model, as well as reading and writing operations, on a given language.

Today my company decided to ditch a rather convoluted file format - although a de facto standard - in favor of a spin-off developed in-house (I must admit I was the first to suggest it).

So, my question is: are there any documented design patterns, or otherwise "good practices" to be used when specifying and/or implementing file formats?

Some recurrent problems that could originate these patterns are string encoding, numeric array encoding, choice for field/record/group separators, header design, hierarchical and recursive data definitions, choice of magic numbers, techniques for strided reading, etc.

Ideally, I would like a book or book chapter, but I appreciate any useful reference on the topic.