North Korea fired two short-range ballistic missiles toward its eastern waters on Friday, its latest weapons display following days of joint drills by US and South Korean warplanes that North Korea views as an invasion rehearsal.
North Korea has conducted an unprecedented number of missile tests this year, according to some experts, in an effort to strengthen its weapons capability and put pressure on its adversaries to make concessions such as sanctions relief in future negotiations.
North recently claimed to have completed major tests required for the acquisition of its first spy satellite and a more mobile intercontinental ballistic missile capable of reaching the US mainland.
At 4:32 p.m. (local time) on Friday, the South Korean military detected two missile launches from North Korea's capital region. Japan also confirmed at least one North Korean missile launch.
It was not immediately clear what types of missiles North Korea launched. According to South Korean military officials, the missiles travelled approximately 250 kilometres (155 miles) and 350 kilometres (220 miles) before landing in the waters between the Korean Peninsula and Japan.
Toshiro Ino, Japan's Vice Defence Minister, stated that one missile detected by Japan flew as far as 300 kilometres (180 miles) at a maximum altitude of 50 kilometres (30 miles).
He speculated that the missile's trajectory was irregular, a possible reference to North Korea's highly manoeuvrable, nuclear-capable KN-23 missile, which was modelled after Russia's Iskander missile.
The South Korean military described the launches as a grave provocation that jeopardises international peace. It stated that South Korea would maintain a firm posture and closely monitor North Korean moves in coordination with the US.
The launches could be in response to the US-South Korean aerial military exercises near the Korean Peninsula on Tuesday, as North Korea has stated that its recent testing spree was intended to warn its rivals about previously combined drills.
Washington and Seoul have stated that their drills are defensive in nature, but North Korea refers to them as invasion practice.
The latest US-South Korean drills included B-52 nuclear-capable bombers and F-22 stealth fighter jets from the US, as well as other advanced South Korean warplanes.
According to South Korea's Defense Ministry, the training was part of a bilateral agreement to strengthen the US commitment to defend its Asian ally with all available military capabilities, including nuclear.
The F-22 jets were supposed to stay in South Korea for more joint exercises with the South Korean air force this week, but due to weather conditions, the US aircraft returned to their base in Japan, according to South Korean defence officials.
North Korea said on Sunday that it used old missiles as launch vehicles to test cameras and other systems for the development of its first military reconnaissance satellite.
A spy satellite and a solid-fuelled intercontinental ballistic missile are among the high-tech weapons systems that Kim Jong Un has promised to deploy in response to what he calls US hostility.
Other weapons systems he wishes to acquire include multi-warhead missiles, submarine-launched nuclear missiles, nuclear-powered submarines, and hypersonic missiles.
North Korea tested a high-thrust solid-fuel motor last week, which experts believe will be used for a solid-fuelled missile, which is more agile and difficult to detect before launch than liquid-fuelled weapons.