Latest: Japan and South Korea accuse North of ICBM missile launch

Latest: South Korea's joint chiefs of staff said that a missile was launched from North Korea's northern Jagang province today.

Update 5.46pm: South Korea's joint chiefs of staff said that a missile was launched from North Korea's northern Jagang province today.

There was no immediate confirmation of the launch by North Korea. The day's broadcast on state-run television had already ended when the news broke at around midnight Pyongyang time.