How to add geospatial info to an existing PDF?

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I work with a small non-profit mountain bike trail advocacy organizationand as a result have created a number of PDF-based maps. These are all Mercator projection, built off of OpenStreetMap data, and work great as print maps. For example: Map 1, Map 2

I'd like to georeference these so they can be viewed with something like Avenza PDF Maps on trail users' phones. Unfortunately, something like Avenza MAPublisher is beyond what we can afford.

How can I georeference my existing maps using free/open source/lower cost tools?



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