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The US is sending an envoy to China to discuss the international response to North Korea's missile tests.
The launches were part of "regular military drills to strengthen self-defence", the North's foreign ministry said in a statement carried by the state-run Korean Central News Agency.
Map of North Korean missile ranges
"Our military will continue with missile launch drills in the future," it added, insisting such action was "our legal right".
The UN Security Council resumed debate on Thursday on a draft resolution in response to the launches.
The document, co-sponsored by the US, UK and Japan, calls for sanctions against North Korea, but there are key differences among the major powers.
Japan - within easy reach of North Korea's missiles - is reportedly pushing for economic sanctions while China and Russia - sympathetic to the North - oppose punitive measures.