Asteroid TC4's closest approach to Earth on Thursday will be over Antarctica at 05:42 GMT (06:42 BST; 01:42 EDT)
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The asteroid, called 2012 TC4, was first spotted five years ago.
It is estimated to be between 15m and 30m (50-100ft) in size, which is relatively small.
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The space rock will hurtle past our planet at a distance of about 42,000km (26,000 miles), bringing it within the Moon's orbit and just above the altitude of communication satellites.
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JPL/CNEOS: "We are going to use this asteroid to practise the system that would observe an asteroid, characterise it and compute how close it is going to come, in case some day we have one that is on the way inbound and might hit."
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Nasa scientists who have spent the last two months tracking this new rocky visitor say their calculations show that it will safely clear the Earth and poses no threat.
Instead, they will use this close approach to rehearse for future potential strikes.
More than a dozen observatories, universities and labs around the world will be watching 2012 TC4 as it flies past.
This will help them to refine how asteroids are tracked and provide a chance to test international communication systems.
http://www.bbc.com/news/science-environment-41583704