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Galileo Galilei first described this principle in 1632 in his Dialogue Concerning the Two Chief World Systems using the example of a ship travelling at constant velocity, without rocking, on a smooth sea; any observer doing experiments below the deck would not be able to tell whether the ship was moving or stationary.
The special principle of relativity was first explicitly enunciated by Galileo Galilei in 1632 in his Dialogue Concerning the Two Chief World Systems, using the metaphor of Galileo's ship.
In Galileo's Dialogue, Salviati is the character who speaks for him.