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The geologic record of Milankovitch climate cycles provides a rich conceptual and temporal framework for evaluating Earth system evolution, bestowing a sharp lens through which to view our planet’s history. However, the utility of these cycles for constraining the early Earth system is hindered by seemingly insurmountable uncertainties in our knowledge of solar system behavior (including Earth–Moon history), and poor temporal control for validation of cycle periods (e.g., from radioisotopic dates). Here we address these problems using a Bayesian inversion approach to quantitatively link astronomical theory with geologic observation, allowing a reconstruction of Proterozoic astronomical cycles, fundamental frequencies of the solar system, the precession constant, and the underlying geologic timescale, directly from stratigraphic data. Application of the approach to 1.4-billion-year-old rhythmites indicates a …