Last night, the asteroid 2015 JF1 came a record distance to our planet, namely 300,000 kilometers. Our moon is and then an order of magnitude further. It was discovered only for a few days on the approach to the Earth and there were no signs of danger from it. After all, its trajectory is very different from the one that could cause a collision. It was discovered using an automated telescope operating at the Mount Lemmon Observatory.
The highlight here is that it was open in just a day or two on approach. And this is with such scientific progress.
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Up to this point, a nearby asteroid that managed to fly up to the earth was a small asteroid - 1999 FN53. But then he was noticed much earlier.