Even the navigators of the fifteenth century were aware of the deficiencies of the cross-staff and sought to improve upon it. The physicians of Henry the Navigator of Portugal, Roderick and Joseph by name, and another of his advisers, Martin de Bohemia, are credited with inventing, or at least introducing, a much improved apparatus known as the astrolabe. This consists of a circle of metal, arranged to be suspended from a ring at the side, so that one of its diameters would maintain the horizontal position through the effect of gravity. A superior quadrant of the circle was marked with degrees and minutes. A straight piece of metal, with sights so that it could be accurately pointed, was adjusted to revolve on a pivot at the center of the circle. This sighting piece being aimed at the sun, for example, the elevation of that body could be read directly on the measuring arc of the circle. Here, then, was no new principle involved, but the instrument had obvious points of advantage over the cross-staff, in particular because only a single sight need be taken, the horizon line being determined, as already explained, through the action of gravitation.
The astrolabe did not gain immediate favor with practical navigators, and it was at best a rather clumsy instrument, subject to peculiar difficulties when used on a rolling ship. Many attempts were made to improve upon it, but for a long time none of these was altogether successful. The final suggestion as to means of overcoming the difficulties encountered in measuring the altitude of astronomical bodies was made by Sir Isaac Newton. But nothing practical came of his discovery, as it was not published until a long time after his death. Meantime independent discovery of the same principle was made by Thomas Godfrey of Philadelphia, in 1730, and by the English astronomer Hadley, who published his discovery before the Royal Society in 1731. The instrument which Hadley devised was called a quadrant. The principle on which it worked involved nothing more complex than the use of two mirrors, one of them (known as the horizon glass and having only half its surface mirrored) fixed in the line of vision of a small telescope; the other (called the index mirror) movable with the arm of an indicator, which is so adjusted as to revolve about the axis of the quadrant. In operation these two mirrors enable the images of two objects, the distance between which is to be measured, to be superimposed. The telescope may be pointed at the horizon, for example, directly under the position of the sun, and the arm of the instrument, altering the position of the so-called index mirror, may be rotated until the limb of the sun seems just to touch the horizon--the latter being viewed through the unsilvered half of the horizon glass. The scale at the circumference of the instrument is marked in half-degrees, which, however, are registered as whole degrees, and which, so interpreted, give the direct measurement of the angular distance between the horizon and the sun; in other words the measurement of the sun's altitude or so-called declination.