Who came up with the first mathematical based heliocentric model of the solar system?

The first mathematically based heliocentric model of the solar system was proposed by the ancient Greek philosopher Aristarchus of Samos around the 3rd century BCE. However, it was Nicolaus Copernicus in the 16th century who developed and published a comprehensive heliocentric model in his work "De revolutionibus orbium coelestium," which provided a detailed mathematical framework and laid the foundation for modern astronomy.