How do ICBM early warning systems differentiate between a real threat and a launch of a normal rocket intended to go to space?
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In addition to other answers, people usually announce their space launches well in advance.
There was a case when Norwegians forgot to notify Russia about missile launch.
https://en.wikipedia.org/wiki/Norwegian_rocket_incident
And Russian president decided that 1 missile is probably not a missile strike, so called off the nuclear response.
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