As human beings started in Africa there was no need for explorers to discover it as they already knew it was there.
Europeans certainly did from ancient times e.g. Egyptian history goes back over 5000 years.
The Europeans who were writing the Bill of Rights in 1689 certainly would have known about Africa and the Americas, which had been settled for nearly 200 years at that time. The slave trade between Africa and the Americas had been going for over 100 years at the time of writing the Bill of Rights.
Just as the authors of this document didn't consider the possibility of a mixed-race marriage they also didn't consider the possibility of a mixed-religion marriage such as Christian/Jewish or Christain/Muslim. If they did fear these marriages they didn't see them as a threat to their way of life in the way that they saw a Roman Catholic marrying the monarch.
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