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Venus's orbit is the closest. I know because I have looked up the distances of both of them in a book. But how is that fact known? it goes back to Johannes Kepler in the early 1600s who formulated the laws of planetary motion.

Kepler probably noticed that the outer planets Jupiter and Saturn showed the least retrograde motion and he deduced that they therefore must have the largest orbits. Kepler scaled the orbits in terms of their time periods.

The absolute distance to Venus was later found by triangulation, measuring the position of Venus relative to the Sun from two different points on Earth during a transit of Venus. Because the size of the Earth was known, this method yielded the size of Venus's orbit, and then all the other orbits by Kepler's 3rd law. Probably the size of Mars's orbit was also measured by triangulation at some stage as a check.

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Q: Which orbit the orbit of mars or the orbit of venus is closer to the earths orbit and how do you know?
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