Some Japanese woke up to the sound of sirens and a warning to take cover as the missile flew overhead.
Japanese TV stations on Tuesday carried breaking news reports about the early morning North Korean missile launchNorth Korea has fired a suspected missile over Japan, in what appears to be a deliberate escalation to get the attention of Tokyo and Washington.
Most countries avoid doing it completely as it can easily be mistaken for an attack. While it is not as big as a nuclear test - which could be next - it can be considered hugely provocative. Japan's Prime Minister Fumio Kishida described the launch as "violent behaviour", while defence minister Yasukazu Hamada said Japan would not rule out any options to strengthen its defences including "counterattack capabilities".
Last week, the three countries held a naval exercise - such drills have long antagonised Pyongyang leader Kim Jong-un, who views them as his enemies preparing for war. Many of North Korea's missile tests are conducted on a high, lofted flight path - reaching a high altitude, avoiding flights over its neighbours.
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