The Democratic People's Republic of Korea (DPRK) has fired a short-range ballistic missile into its eastern waters, the Republic of Korea's (ROK) Joint Chiefs of Staff (JCS) said on Sunday.

The JCS said in a statement that it detected the launch from an area in or around Taechon, North Pyongan province, at 6:53 a.m. local time. 

The ROK was maintaining a full readiness posture in close cooperation with the United States while strengthening surveillance and vigilance, the JCS added.

Sunday's missile launch came two days after a U.S. nuclear-powered aircraft carrier arrived in Busan, about 390 km southeast of ROK capital Seoul, for combined drills with the ROK's navy scheduled to take place later this month.

Japanese media later reported that Japan estimated the missile reached a maximum altitude of 50 km and may have flown on an irregular trajectory, citing Japanese Defense Minister Yasukazu Hamada, who also said the missile fell outside Japan's exclusive economic zone and there were no reports of problems with shipping or air traffic.

(With input from Xinhua)