I have recently started working with QGIS.
I am unsure of how to go about inserting historical maps which have no referencing data.
I think it might be possible to insert them, then move and scale them using a modern mapping layer for reference.
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It is Georeferencing that I would use to try and do this.
I have done that for Australian maps from the 19th century related to family history.
If you try, and get stuck, then just ask a more focussed question about precisely where you get stuck.