Danish astronomer Tycho Brahe made accurate measurements of planetary positions which he shared with Johannes Kepler. Kepler found that Mars' orbit was elliptical rather than circular as previously believed. He developed his three laws of planetary motion based on Mars' orbit: 1) planets orbit in ellipses with the sun at one focus, 2) connecting swept areas equal over time, 3) the square of a planet's orbital period is proportional to the cube of its average distance from the sun. Kepler's laws helped Isaac Newton later establish his law of universal gravitation.