I wonder how they decided the 0.3, any strong dynamical reason or was this close enough to Earth to be scary?
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1.3au is fairly below the perihelion distance of Mars (1.38au). Apart from that, the number is arbitrary. Dynamically, there is no fundamental difference between an asteroid with q=1.25au, and one with q=1.35au.
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they shoulda gone with parsecs, dammitt
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Are there any objects with an aphelion < 0.7: i.e. technically meet this definition based on perihelion, but never actually get within 0.3 AU of Earth?
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No, no "Vatira" asteroid (ie entirely inside Venus's orbit) is known. The asteroid with the smallest aphelion is 2019 AQ3, with q=0.77 au (only 2019 AQ3 and 2019 LF6 have q < 0.8 au) https://minorplanetcenter.net/db_search/show_by_properties?aphelion_distance_max=0.8 …
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Note the capitalization: "Astronomical Units" should be abbreviated as "AU".
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