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There is a relation between the size of an asteroid and the frequency of them entering Earth's atmosphere.

Diameters of 5 to 10 m (16 to 33 ft) approximately once a year.Diameters around 50 m (164 ft) approximately once every 1,000 yearsDiameters of about 1 km (0.62 mi) approximately every 500,000 years.Diameters > 5 km (3 mi) approximately once every ten million years
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Its about a thousand or hundred years

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