Hipparchus (/hɪˈpɑːrkəs/; Greek: Ἵππαρχος, Hipparkhos; c. 190 – c. 120 BC) was a Greek astronomer, geographer, and mathematician. He is considered the founder of trigonometry, but is most famous for his incidental discovery of the precession of the equinoxes. Hipparchus was born in Nicaea, Bithynia, and probably died on the island of Rhodes, Greece. He is known to have been a working astronomer between 162 and 127 BC.