How was latitude determined at sea $($by sailors like Zheng He$)$ before Harrison's solution?

Group of answer choices

Sailors used the compass and "star boards" that estimated the height of celestial objects relative to the horizon.

Sailors understood the dangers of sea travel, and relied on little but superstition and fate to guide their ships.

Sailors used the detailed maps of both Hemispheres, made possible by $12$th century cartographers.

Sailors did not attempt to determine latitude at sea.