Who discovered our universe is heliocentric?

The heliocentric model of the universe, which posits that the Sun is at the center and the Earth, along with other planets, orbits around it, was primarily developed by Nicolaus Copernicus in the 16th century. His work, particularly in the publication "De revolutionibus orbium coelestium" in 1543, marked a significant shift from the geocentric model that placed the Earth at the center. This revolutionary idea laid the groundwork for modern astronomy and was later supported by observations from astronomers like Galileo Galilei and Johannes Kepler.