The exploration of Io, Jupiter's innermost Galilean and third-largest moon, began with its discovery in 1610 and continues today with Earth-based observations and visits by spacecraft to the Jupiter system. Italian astronomer Galileo Galilei was the first to record an observation of Io on January 8, 1610, though Simon Marius may have also observed Io at around the same time. During the 17th century, observations of Io and the other Galilean satellites helped with the measurement of longitude by map makers and surveyors, with validation of Kepler's Third Law of planetary motion, and with measurement of the speed of light. Based on ephemerides produced by astronomer Giovanni Cassini and others, Pierre-Simon Laplace created a mathematical theory to explain the resonant orbits of three of Jupi