An asteroid the size of an aircraft carrier missed Earth by only 200,000 miles as it flew by Tuesday night — the closest an asteroid has been to Earth in 200 years.

Asteroid 2005 YU55 , as seen by NASA 860,000 miles from Earth. (AP)

One Central Florida man, using an 8- inch telescope, captured footage of the space rock. Watch the video, set to an appropriately dramatic score, after the jump.