A rocket is launched from North Korea's eastern coastal town of Wonsan on July 25, 2019. (Photo: Yonhap/VNA)

The projectiles were fired twice early in the morning from areas near the South Hwanghae province, South Korea's Joint Chiefs of Staff (JSC) said. South Korea’s military is monitoring the situation in case of additional launches and maintaining a readiness posture, JSC added. The US said Washington is monitoring the situation and consulting closely with its South Korean and Japanese allies.

Japan’s defence ministry said on Tuesday it did not see any imminent threat to Japanese security after North Korea launched more unidentified projectiles. The ministry said in a statement it had not confirmed any ballistic missile flights into or over Japanese territory or its exclusive economic zone.

The Tuesday firing came a day after South Korea and the United States began their joint military exercise, which involves computer simulations to respond to emergency situations on the Korean Peninsula. On Friday, North Korea fired two short-range projectiles into the East Sea, just two days after it launched two short-range ballistic missiles. On July 25, Pyongyang also fired two rounds of a new type of ballistic missile, resuming its weapons testing.