The 11 - 24 metre wide asteroid 2017 FR91 made a close pass (3.5 LD, 0.0091 AU), travelling at 9.47 km/second, to the Earth-Moon system on the 29th March 2017 @ 20:11 UT ±00:01.
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The Lunar Distance (LD), the distance between Earth and the Moon, equals 384,401 km, (or 0.00256 AU).
