The two-day trilateral manoeuver began in waters off the South Korean and Japanese coasts, with four vessels equipped with the Aegis combat system, according to a statement issued by the South Korean Joint Chiefs of Staff (JCS).
"The latest exercise is designed to prepare against growing nuclear and missile threats by North Korea in accordance with the agreement made during the 48th Security Consultative Meeting between South Korea and the US in October 2016," Efe news quoted the statement as saying.
During the operations, no actual missiles will be fired as the four vessels have been deployed only to detect and track computer-simulated missiles, and rehearse their information-sharing protocols, said the JCS.
This is the fifth joint missile warning exercise between the three countries since their first drill in June 2016.
The missile-warning exercise comes at a time of lingering tension on the peninsula following the ongoing series of weapons tests carried out by Pyongyang this year, which triggered a harsh response from US President Donald Trump, who threatened to "totally destroy" North Korea.
The regional tension has significantly eased off since Pyongyang fired its latest missile over Japan a month ago on September 15.
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