How did ancient Europeans navigate with constellations (before the compass was introduced to Europe)

For example, we are most familiar with the Polaris Dafa. We use the Big Dipper to find the North Star, and then we can set the direction.

In fact, there are many celestial bodies in the sky that can be oriented, such as Pegasus quadrangle, Tianlong quadrangle and so on.

Even if I am familiar with the sky again, I just need to look at what constellation is in the sky to know the direction (hehe, boast, I have such an experience). For example, if you see Perseus above Auriga, it must be northeast; If not, it must be the northwest; If they are about the same height, it is due north.