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All three vessels proceeded towards the Baltic Sea, where the Boikiy - still travelling under the fake AIS marker - was recorded passing underneath the Great Belt Bridge in Denmark.

Denmark’s Maritime Authority warned that there was a risk of missile fragments falling near the shipping lane, known as the Great Belt.

The missile test on Thursday was conducted aboard a frigate, the Niels Juel, in the port of Korsør, which sits beside the Great Belt.

The Great Belt is the strait between Denmark’s two largest islands, Zealand and Funen, and is part of the main shipping route between the North Sea and the Baltic Sea.

The National Maritime Authority issued a warning for ships to avoid part of the Great Belt strait due to a risk of "falling missile fragments".