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Compass
Used for
finding the
direction a ship
is travelling
Astrolabe
Used the North
Star or Sun to
calculate
latitude
Cross-staff
Used to
measure the
altitude of the
Pole star above
the horizon to
determine
latitude.
Back-staff
Used to
measure the
altitude of the
Sun to
Developed in China
and used by Muslim
travelers.
Invented by ancient
Greeks, further
developed by Arab
mathematicians and
astronomers.
Invented around
1342 for astronomy.
Used for navigation
around 1514.
Developed in 1594
as an improvement
over the cross-staff.
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