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The astronomical unit (symbol: au, or or AU) is a unit of length, roughly the distance from Earth to the Sun and approximately equal to or 8.3 light-minutes. The actual distance from Earth to the Sun varies by about 3% as Earth orbits the Sun, from a maximum ( aphelion) to a minimum ( perihelion) and back again once each year. The astronomical unit was originally conceived as the average of Earth's aphelion and perihelion; however, since 2012 it has been defined as exactly (see below for several conversions). The astronomical unit is used primarily for measuring distances within the Solar System or around other stars. It is also a fundamental component in the definition of another unit of astronomical length, the parsec.


History of symbol usage

A variety of unit symbols and abbreviations have been in use for the astronomical unit. In a 1976 resolution, the International Astronomical Union (IAU) had used the symbol ''A'' to denote a length equal to the astronomical unit. In the astronomical literature, the symbol AU was (and remains) common. In 2006, the International Bureau of Weights and Measures (BIPM) had recommended ua as the symbol for the unit. In the non-normative Annex C to ISO 80000-3:2006 (now withdrawn), the symbol of the astronomical unit was "ua". In 2012, the IAU, noting "that various symbols are presently in use for the astronomical unit", recommended the use of the symbol "au". The
scientific journal In academic publishing, a scientific journal is a periodical publication intended to further the progress of science, usually by reporting new research. Content Articles in scientific journals are mostly written by active scientists such as s ...
s published by the
American Astronomical Society The American Astronomical Society (AAS, sometimes spoken as "double-A-S") is an American society of professional astronomers and other interested individuals, headquartered in Washington, DC. The primary objective of the AAS is to promote the adv ...
and the Royal Astronomical Society subsequently adopted this symbol. In the 2014 revision and 2019 edition of the SI Brochure, the BIPM used the unit symbol "au". ISO 80000-3:2019, which replaces ISO 80000-3:2006, does not mention the astronomical unit.


Development of unit definition

Earth's orbit Earth orbits the Sun at an average distance of 149.60 million km (92.96 million mi) in a counterclockwise direction as viewed from above the Northern Hemisphere. One complete orbit takes  days (1 sidereal year), during which time Earth ...
around the Sun is an
ellipse In mathematics, an ellipse is a plane curve surrounding two focus (geometry), focal points, such that for all points on the curve, the sum of the two distances to the focal points is a constant. It generalizes a circle, which is the special ty ...
. The
semi-major axis In geometry, the major axis of an ellipse is its longest diameter: a line segment that runs through the center and both foci, with ends at the two most widely separated points of the perimeter. The semi-major axis (major semiaxis) is the long ...
of this elliptic orbit is defined to be half of the straight
line segment In geometry, a line segment is a part of a straight line that is bounded by two distinct end points, and contains every point on the line that is between its endpoints. The length of a line segment is given by the Euclidean distance between ...
that joins the perihelion and aphelion. The centre of the Sun lies on this straight line segment, but not at its midpoint. Because ellipses are well-understood shapes, measuring the points of its extremes defined the exact shape mathematically, and made possible calculations for the entire orbit as well as predictions based on observation. In addition, it mapped out exactly the largest straight-line distance that Earth traverses over the course of a year, defining times and places for observing the largest
parallax Parallax is a displacement or difference in the apparent position of an object viewed along two different lines of sight and is measured by the angle or semi-angle of inclination between those two lines. Due to foreshortening, nearby objects ...
(apparent shifts of position) in nearby stars. Knowing Earth's shift and a star's shift enabled the star's distance to be calculated. But all measurements are subject to some degree of error or uncertainty, and the uncertainties in the length of the astronomical unit only increased uncertainties in the stellar distances. Improvements in precision have always been a key to improving astronomical understanding. Throughout the twentieth century, measurements became increasingly precise and sophisticated, and ever more dependent on accurate observation of the effects described by
Einstein Albert Einstein ( ; ; 14 March 1879 – 18 April 1955) was a German-born theoretical physicist, widely acknowledged to be one of the greatest and most influential physicists of all time. Einstein is best known for developing the theory ...
's theory of relativity and upon the mathematical tools it used. Improving measurements were continually checked and cross-checked by means of improved understanding of the laws of celestial mechanics, which govern the motions of objects in space. The expected positions and distances of objects at an established time are calculated (in au) from these laws, and assembled into a collection of data called an
ephemeris In astronomy and celestial navigation, an ephemeris (pl. ephemerides; ) is a book with tables that gives the trajectory of naturally occurring astronomical objects as well as artificial satellites in the sky, i.e., the position (and possibly vel ...
. NASA Jet Propulsion Laboratory HORIZONS System provides one of several ephemeris computation services. In 1976, to establish an even precise measure for the astronomical unit, the IAU formally adopted a new definition. Although directly based on the then-best available observational measurements, the definition was recast in terms of the then-best mathematical derivations from celestial mechanics and planetary ephemerides. It stated that "the astronomical unit of length is that length (''A'') for which the Gaussian gravitational constant (''k'') takes the value when the units of measurement are the astronomical units of length, mass and time". Equivalently, by this definition, one au is "the radius of an unperturbed circular Newtonian orbit about the sun of a particle having infinitesimal mass, moving with an angular frequency of "; or alternatively that length for which the
heliocentric gravitational constant In celestial mechanics, the standard gravitational parameter ''μ'' of a celestial body is the product of the gravitational constant ''G'' and the mass ''M'' of the bodies. For two bodies the parameter may be expressed as G(m1+m2), or as GM when ...
(the product ''G'') is equal to ()2 au3/d2, when the length is used to describe the positions of objects in the Solar System. Subsequent explorations of the Solar System by space probes made it possible to obtain precise measurements of the relative positions of the inner planets and other objects by means of radar and telemetry. As with all radar measurements, these rely on measuring the time taken for
photons A photon () is an elementary particle that is a quantum of the electromagnetic field, including electromagnetic radiation such as light and radio waves, and the force carrier for the electromagnetic force. Photons are massless, so they alway ...
to be reflected from an object. Because all photons move at the speed of light in vacuum, a fundamental constant of the universe, the distance of an object from the probe is calculated as the product of the speed of light and the measured time. However, for precision the calculations require adjustment for things such as the motions of the probe and object while the photons are transiting. In addition, the measurement of the time itself must be translated to a standard scale that accounts for relativistic time dilation. Comparison of the ephemeris positions with time measurements expressed in Barycentric Dynamical Time (TDB) leads to a value for the speed of light in astronomical units per day (of ). By 2009, the IAU had updated its standard measures to reflect improvements, and calculated the speed of light at (TDB). In 1983, the CIPM modified the
International System of Units The International System of Units, known by the international abbreviation SI in all languages and sometimes pleonastically as the SI system, is the modern form of the metric system and the world's most widely used system of measurement. E ...
(SI) to make the metre defined as the distance travelled in a vacuum by light in 1 /  second. This replaced the previous definition, valid between 1960 and 1983, which was that the metre equalled a certain number of wavelengths of a certain emission line of krypton-86. (The reason for the change was an improved method of measuring the speed of light.) The speed of light could then be expressed exactly as ''c''0 = , a standard also adopted by the
IERS The International Earth Rotation and Reference Systems Service (IERS), formerly the International Earth Rotation Service, is the body responsible for maintaining global time and reference frame standards, notably through its Earth Orientation Pa ...
numerical standards. For complete document see From this definition and the 2009 IAU standard, the time for light to traverse an astronomical unit is found to be ''τ''A = , which is slightly more than 8 minutes 19 seconds. By multiplication, the best IAU 2009 estimate was ''A'' = ''c''0''τ''A = , based on a comparison of Jet Propulsion Laboratory and IAA–RAS ephemerides. In 2006, the BIPM reported a value of the astronomical unit as . In the 2014 revision of the SI Brochure, the BIPM recognised the IAU's 2012 redefinition of the astronomical unit as . This estimate was still derived from observation and measurements subject to error, and based on techniques that did not yet standardize all relativistic effects, and thus were not constant for all observers. In 2012, finding that the equalization of relativity alone would make the definition overly complex, the IAU simply used the 2009 estimate to redefine the astronomical unit as a conventional unit of length directly tied to the metre (exactly ). The new definition also recognizes as a consequence that the astronomical unit is now to play a role of reduced importance, limited in its use to that of a convenience in some applications. : This definition makes the speed of light, defined as exactly , equal to exactly  ×  ÷  or about  au/d, some 60 parts per trillion less than the 2009 estimate.


Usage and significance

With the definitions used before 2012, the astronomical unit was dependent on the
heliocentric gravitational constant In celestial mechanics, the standard gravitational parameter ''μ'' of a celestial body is the product of the gravitational constant ''G'' and the mass ''M'' of the bodies. For two bodies the parameter may be expressed as G(m1+m2), or as GM when ...
, that is the product of the
gravitational constant The gravitational constant (also known as the universal gravitational constant, the Newtonian constant of gravitation, or the Cavendish gravitational constant), denoted by the capital letter , is an empirical physical constant involved in ...
, ''G'', and the
solar mass The solar mass () is a standard unit of mass in astronomy, equal to approximately . It is often used to indicate the masses of other stars, as well as stellar clusters, nebulae, galaxies and black holes. It is approximately equal to the mass ...
, . Neither ''G'' nor can be measured to high accuracy separately, but the value of their product is known very precisely from observing the relative positions of planets ( Kepler's Third Law expressed in terms of Newtonian gravitation). Only the product is required to calculate planetary positions for an ephemeris, so ephemerides are calculated in astronomical units and not in SI units. The calculation of ephemerides also requires a consideration of the effects of general relativity. In particular, time intervals measured on Earth's surface (
Terrestrial Time Terrestrial Time (TT) is a modern astronomical time standard defined by the International Astronomical Union, primarily for time-measurements of astronomical observations made from the surface of Earth. For example, the Astronomical Almanac uses T ...
, TT) are not constant when compared with the motions of the planets: the terrestrial second (TT) appears to be longer near January and shorter near July when compared with the "planetary second" (conventionally measured in TDB). This is because the distance between Earth and the Sun is not fixed (it varies between and ) and, when Earth is closer to the Sun ( perihelion), the Sun's gravitational field is stronger and Earth is moving faster along its orbital path. As the metre is defined in terms of the second and the speed of light is constant for all observers, the terrestrial metre appears to change in length compared with the "planetary metre" on a periodic basis. The metre is defined to be a unit of proper length, but the SI definition does not specify the
metric tensor In the mathematical field of differential geometry, a metric tensor (or simply metric) is an additional structure on a manifold (such as a surface) that allows defining distances and angles, just as the inner product on a Euclidean space allows ...
to be used in determining it. Indeed, the International Committee for Weights and Measures (CIPM) notes that "its definition applies only within a spatial extent sufficiently small that the effects of the non-uniformity of the gravitational field can be ignored". As such, the metre is undefined for the purposes of measuring distances within the Solar System. The 1976 definition of the astronomical unit was incomplete because it did not specify the
frame of reference In physics and astronomy, a frame of reference (or reference frame) is an abstract coordinate system whose origin, orientation, and scale are specified by a set of reference points― geometric points whose position is identified both mathema ...
in which time is to be measured, but proved practical for the calculation of ephemerides: a fuller definition that is consistent with general relativity was proposed, and "vigorous debate" ensued and also p. 91, ''Summary and recommendations''. until August 2012 when the IAU adopted the current definition of 1 astronomical unit = metres. The astronomical unit is typically used for stellar system scale distances, such as the size of a protostellar disk or the
heliocentric distance Heliocentrism (also known as the Heliocentric model) is the astronomical model in which the Earth and planets revolve around the Sun at the center of the universe. Historically, heliocentrism was opposed to geocentrism, which placed the Earth ...
of an asteroid, whereas other units are used for other distances in astronomy. The astronomical unit is too small to be convenient for interstellar distances, where the parsec and
light-year A light-year, alternatively spelled light year, is a large unit of length used to express astronomical distances and is equivalent to about 9.46 trillion kilometers (), or 5.88 trillion miles ().One trillion here is taken to be 1012 ...
are widely used. The parsec (parallax
arcsecond A minute of arc, arcminute (arcmin), arc minute, or minute arc, denoted by the symbol , is a unit of angular measurement equal to of one degree. Since one degree is of a turn (or complete rotation), one minute of arc is of a turn. The na ...
) is defined in terms of the astronomical unit, being the distance of an object with a parallax of . The light-year is often used in popular works, but is not an approved non-SI unit and is rarely used by professional astronomers. When simulating a
numerical model of the Solar System A numerical model of the Solar System is a set of mathematical equations, which, when solved, give the approximate positions of the planets as a function of time. Attempts to create such a model established the more general field of celestial mechan ...
, the astronomical unit provides an appropriate scale that minimizes ( overflow,
underflow The term arithmetic underflow (also floating point underflow, or just underflow) is a condition in a computer program where the result of a calculation is a number of more precise absolute value than the computer can actually represent in memory o ...
and
truncation In mathematics and computer science, truncation is limiting the number of digits right of the decimal point. Truncation and floor function Truncation of positive real numbers can be done using the floor function. Given a number x \in \mathbb ...
) errors in floating point calculations.


History

The book '' On the Sizes and Distances of the Sun and Moon'', which is ascribed to Aristarchus, says the distance to the Sun is 18 to 20 times the distance to the Moon, whereas the true ratio is about . The latter estimate was based on the angle between the half-moon and the Sun, which he estimated as (the true value being close to ). Depending on the distance that van Helden assumes Aristarchus used for the distance to the Moon, his calculated distance to the Sun would fall between and Earth radii. According to Eusebius in the '' Praeparatio evangelica'' (Book XV, Chapter 53),
Eratosthenes Eratosthenes of Cyrene (; grc-gre, Ἐρατοσθένης ;  – ) was a Greek polymath: a mathematician, geographer, poet, astronomer, and music theorist. He was a man of learning, becoming the chief librarian at the Library of Alexandria ...
found the distance to the Sun to be "σταδιων μυριαδας τετρακοσιας και οκτωκισμυριας" (literally "of ''stadia''
myriad A myriad (from Ancient Greek grc, μυριάς, translit=myrias, label=none) is technically the number 10,000 (ten thousand); in that sense, the term is used in English almost exclusively for literal translations from Greek, Latin or Sinospher ...
s 400 and ) but with the additional note that in the Greek text the grammatical agreement is between ''myriads'' (not ''stadia'') on the one hand and both ''400'' and ' on the other, as in Greek, unlike English, all three (or all four if one were to include ''stadia'') words are inflected. This has been translated either as '' stadia'' (1903 translation by Edwin Hamilton Gifford), or as ''stadia'' (edition of , dated 1974–1991). Using the Greek stadium of 185 to 190 metres, the former translation comes to to , which is far too low, whereas the second translation comes to 148.7 to 152.8 million kilometres (accurate within 2%). Hipparchus also gave an estimate of the distance of Earth from the Sun, quoted by Pappus as equal to 490 Earth radii. According to the conjectural reconstructions of Noel Swerdlow and G. J. Toomer, this was derived from his assumption of a "least perceptible" solar parallax of . A Chinese mathematical treatise, the '' Zhoubi Suanjing'' (c. 1st century BCE), shows how the distance to the Sun can be computed geometrically, using the different lengths of the noontime shadows observed at three places li apart and the assumption that Earth is flat. In the 2nd century CE, Ptolemy estimated the mean distance of the Sun as times Earth's radius. To determine this value, Ptolemy started by measuring the Moon's parallax, finding what amounted to a horizontal lunar parallax of 1° 26′, which was much too large. He then derived a maximum lunar distance of Earth radii. Because of cancelling errors in his parallax figure, his theory of the Moon's orbit, and other factors, this figure was approximately correct.van Helden 1985, pp. 16–19. He then measured the apparent sizes of the Sun and the Moon and concluded that the apparent diameter of the Sun was equal to the apparent diameter of the Moon at the Moon's greatest distance, and from records of lunar eclipses, he estimated this apparent diameter, as well as the apparent diameter of the shadow cone of Earth traversed by the Moon during a lunar eclipse. Given these data, the distance of the Sun from Earth can be trigonometrically computed to be Earth radii. This gives a ratio of solar to lunar distance of approximately 19, matching Aristarchus's figure. Although Ptolemy's procedure is theoretically workable, it is very sensitive to small changes in the data, so much so that changing a measurement by a few per cent can make the solar distance infinite. After Greek astronomy was transmitted to the medieval Islamic world, astronomers made some changes to Ptolemy's cosmological model, but did not greatly change his estimate of the Earth–Sun distance. For example, in his introduction to Ptolemaic astronomy, al-Farghānī gave a mean solar distance of Earth radii, whereas in his '' zij'', al-Battānī used a mean solar distance of Earth radii. Subsequent astronomers, such as al-Bīrūnī, used similar values. Later in Europe, Copernicus and Tycho Brahe also used comparable figures ( and Earth radii), and so Ptolemy's approximate Earth–Sun distance survived through the 16th century.
Johannes Kepler Johannes Kepler (; ; 27 December 1571 – 15 November 1630) was a German astronomer, mathematician, astrologer, natural philosopher and writer on music. He is a key figure in the 17th-century Scientific Revolution, best known for his laws ...
was the first to realize that Ptolemy's estimate must be significantly too low (according to Kepler, at least by a factor of three) in his '' Rudolphine Tables'' (1627).
Kepler's laws of planetary motion In astronomy, Kepler's laws of planetary motion, published by Johannes Kepler between 1609 and 1619, describe the orbits of planets around the Sun. The laws modified the heliocentric theory of Nicolaus Copernicus, replacing its circular orbits ...
allowed astronomers to calculate the relative distances of the planets from the Sun, and rekindled interest in measuring the absolute value for Earth (which could then be applied to the other planets). The invention of the telescope allowed far more accurate measurements of angles than is possible with the naked eye. Flemish astronomer
Godefroy Wendelin Godfried Wendelen or Govaert Wendelen, Latinized Godefridus Wendelinus, or sometimes Vendelinus and in French-language sources referred to as Godefroy Wendelin (6 June 1580 – 24 October 1667) was an astronomer and Catholic priest from Liè ...
repeated Aristarchus’ measurements in 1635, and found that Ptolemy's value was too low by a factor of at least eleven. A somewhat more accurate estimate can be obtained by observing the transit of Venus. – provides an extended historical discussion of the transit of Venus method. By measuring the transit in two different locations, one can accurately calculate the parallax of Venus and from the relative distance of Earth and Venus from the Sun, the solar parallax (which cannot be measured directly due to the brightness of the Sun). Jeremiah Horrocks had attempted to produce an estimate based on his observation of the 1639 transit (published in 1662), giving a solar parallax of , similar to Wendelin's figure. The solar parallax is related to the Earth–Sun distance as measured in Earth radii by :A = \cot\alpha \approx 1\,\textrm/\alpha. The smaller the solar parallax, the greater the distance between the Sun and Earth: a solar parallax of is equivalent to an Earth–Sun distance of Earth radii.
Christiaan Huygens Christiaan Huygens, Lord of Zeelhem, ( , , ; also spelled Huyghens; la, Hugenius; 14 April 1629 – 8 July 1695) was a Dutch mathematician, physicist, engineer, astronomer, and inventor, who is regarded as one of the greatest scientists of ...
believed that the distance was even greater: by comparing the apparent sizes of Venus and Mars, he estimated a value of about Earth radii, equivalent to a solar parallax of . Although Huygens' estimate is remarkably close to modern values, it is often discounted by historians of astronomy because of the many unproven (and incorrect) assumptions he had to make for his method to work; the accuracy of his value seems to be based more on luck than good measurement, with his various errors cancelling each other out. Jean Richer and Giovanni Domenico Cassini measured the parallax of Mars between Paris and
Cayenne Cayenne (; ; gcr, Kayenn) is the capital city of French Guiana, an overseas region and Overseas department, department of France located in South America. The city stands on a former island at the mouth of the Cayenne River on the Atlantic Oc ...
in French Guiana when Mars was at its closest to Earth in 1672. They arrived at a figure for the solar parallax of , equivalent to an Earth–Sun distance of about Earth radii. They were also the first astronomers to have access to an accurate and reliable value for the radius of Earth, which had been measured by their colleague
Jean Picard Jean Picard (21 July 1620 – 12 July 1682) was a French astronomer and priest born in La Flèche, where he studied at the Jesuit Collège Royal Henry-Le-Grand. He is principally notable for his accurate measure of the size of the Earth, base ...
in 1669 as '' toises''. This same year saw another estimate for the astronomical unit by John Flamsteed, which accomplished it alone by measuring the martian diurnal parallax. Another colleague,
Ole Rømer Ole Christensen Rømer (; 25 September 1644 – 19 September 1710) was a Danish astronomer who, in 1676, made the first measurement of the speed of light. Rømer also invented the modern thermometer showing the temperature between two fix ...
, discovered the finite speed of light in 1676: the speed was so great that it was usually quoted as the time required for light to travel from the Sun to the Earth, or "light time per unit distance", a convention that is still followed by astronomers today. A better method for observing Venus transits was devised by James Gregory and published in his ''
Optica Promata Optica may refer to: *Optica (society), a scientific organisation supporting optics research and education * ''Optica'' (journal), a scientific journal on optics * Edgley Optica, an aircraft *'' Lithops optica'', a plant * Optica Optics Software, s ...
'' (1663). It was strongly advocated by Edmond Halley and was applied to the transits of Venus observed in 1761 and 1769, and then again in 1874 and 1882. Transits of Venus occur in pairs, but less than one pair every century, and observing the transits in 1761 and 1769 was an unprecedented international scientific operation including observations by James Cook and Charles Green from Tahiti. Despite the Seven Years' War, dozens of astronomers were dispatched to observing points around the world at great expense and personal danger: several of them died in the endeavour. The various results were collated by Jérôme Lalande to give a figure for the solar parallax of .
Karl Rudolph Powalky Karl Rudolph Powalky (19 June 1817 – 11 July 1881) was a German astronomer known for his computational work on estimating cometary paths and minor planets and for his estimation of the solar parallax at . Nothing is known of Powalky's younger day ...
had made an estimate of in 1864. Another method involved determining the constant of aberration. Simon Newcomb gave great weight to this method when deriving his widely accepted value of for the solar parallax (close to the modern value of ), although Newcomb also used data from the transits of Venus. Newcomb also collaborated with A. A. Michelson to measure the speed of light with Earth-based equipment; combined with the constant of aberration (which is related to the light time per unit distance), this gave the first direct measurement of the Earth–Sun distance in kilometres. Newcomb's value for the solar parallax (and for the constant of aberration and the Gaussian gravitational constant) were incorporated into the first international system of astronomical constants in 1896, which remained in place for the calculation of ephemerides until 1964. The name "astronomical unit" appears first to have been used in 1903. The discovery of the
near-Earth asteroid A near-Earth object (NEO) is any small Solar System body whose orbit brings it into proximity with Earth. By convention, a Solar System body is a NEO if its closest approach to the Sun (perihelion) is less than 1.3 astronomical units (AU). ...
433 Eros Eros (minor planet designation: (433) Eros), provisional designation is a stony asteroid of the Amor group and the first discovered and second-largest near-Earth object with an elongated shape and a mean diameter of approximately . Visi ...
and its passage near Earth in 1900–1901 allowed a considerable improvement in parallax measurement. Another international project to measure the parallax of 433 Eros was undertaken in 1930–1931. Direct radar measurements of the distances to Venus and Mars became available in the early 1960s. Along with improved measurements of the speed of light, these showed that Newcomb's values for the solar parallax and the constant of aberration were inconsistent with one another.


Developments

The unit distance (the value of the astronomical unit in metres) can be expressed in terms of other astronomical constants: :A^3 = \frac, where is the Newtonian constant of gravitation, is the solar mass, is the numerical value of Gaussian gravitational constant and is the time period of one day. The Sun is constantly losing mass by radiating away energy, so the orbits of the planets are steadily expanding outward from the Sun. This has led to calls to abandon the astronomical unit as a unit of measurement. As the speed of light has an exact defined value in SI units and the Gaussian gravitational constant is fixed in the astronomical system of units, measuring the light time per unit distance is exactly equivalent to measuring the product × in SI units. Hence, it is possible to construct ephemerides entirely in SI units, which is increasingly becoming the norm. A 2004 analysis of radiometric measurements in the inner Solar System suggested that the secular increase in the unit distance was much larger than can be accounted for by solar radiation, + metres per century. The measurements of the secular variations of the astronomical unit are not confirmed by other authors and are quite controversial. Furthermore, since 2010, the astronomical unit has not been estimated by the planetary ephemerides.


Examples

The following table contains some distances given in astronomical units. It includes some examples with distances that are normally not given in astronomical units, because they are either too short or far too long. Distances normally change over time. Examples are listed by increasing distance.


See also

* Orders of magnitude (length)


References


Further reading

*


External links


The IAU and astronomical units


(HTML version of the IAU Style Manual)


Transit of Venus
{{DEFAULTSORT:Astronomical Unit Celestial mechanics Unit Units of length