He put the sun at the centre of the solar system,not the Earth as favoured by religion.
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Sir Isaac Newton
To assume that Earth and the other planets move around the sun
His most important work, On the Revolution of Heavenly Spheres , was written entirely by him. He used other's astronomical observations, but wrote the book on his own.A fellow mathematician, Georg Rheticus, was very helpful in convincing Copernicus to publish his work.
Other people recorded their observations of the stars and planets with astrolabes. Ptolemy came up with a (very complicated) mathematical system that would predict the location of planets over time. His basic, geocentric idea was modified over the centuries, but only became more complicated as observations became more exact. Copernicus took these observations that others had written down, and proposed a heliocentric system that he (correctly) noted was far simpler in making accurate predictions.
The discovery did not support Copernicus's theory directly but it raised doubts about the ancient theory of Ptolemy that said that all objects in the sky are in orbit round the Earth. Galileo was an aggressive supporter of Copernicus's theory but eventually it was Kepler's theory that became accepted and is still used today. Both Copernicus and Kepler placed the Sun at the centre but Kepler's elliptical orbits are supported by the later theory of dynamics.