Although you have not included the image, it is possible to reply to this question by saying that from the 1400s to the 1600s Europeans used A: the astrolabe. In the 15th and 16th centuries Europeans embarked on numerous exploration trips across the oceans, and the astrolabe, which was an ancient instrument but had been re-introduced first to Muslim Spain and later on to the rest of Europe by the 12th century, became the most popular astronomical, and navigational, tool - it would eventually be replaced by quadrants and sextants, which proved to be more precise. The astrolabe assisted sailors such as Columbus, Magellan and Elcano during their expeditions, letting them know where their ships were in relation to the stars.