North Korea has fired two ballistic missiles into the sea off its east coast, according to the South Korean military, after protesting joint military drills by the United States and South Korea.

South Korea’s Joint Chiefs of Staff (JSC) said on Monday the missiles were fired from North Korea’s Hwanghae province shortly before 8am local time (11:00 GMT Sunday).

The JSC condemned the launches as a violation of United Nations Security Council resolutions and said it would continue military drills as planned.

“We will keep a close eye on North Korea’s various activities and maintain firm readiness posture based on the capability to overwhelmingly respond to any provocations,” the JCS said in a statement.

Japan’s Ministry of Defense said the projectiles are believed to have fallen outside of Japan’s exclusive economic zone.

The launches are the latest weapons tests carried out by North Korea in apparent response to ongoing joint military drills between Washington and Seoul, which Pyongyang claims are a rehearsal for an invasion and occupation.

Pyongyang said on Friday it had tested a new nuclear-capable underwater attack drone capable of unleashing a “radioactive tsunami” that would destroy enemy naval vessels and ports.