using a bradall (sharp pointed tool ) you can poke into the plasterboard and find the position of the joists, they should be 400mm apart. If the tip of the bradaal passes easily through you have not hit a stud if it doesnt you have.
Use Kingspan insulation backed plasterboards and long drywall screws, no need to remove any of the wallpaper if its to be covered and only insulate walls that are external ones, any other internal walls will give you no benefits at all.