Timeline: North Korea's missile development

North Korea on Wednesday launched a long-range rocket which Japanese authorities said passed over its southern island chain of Okinawa. It was the second launch this year, after a failed attempt in April.

North Korea has said the rocket is aimed at putting a satellite in orbit, but much of the international community sees the launch as a thinly veiled ballistic missile test, banned by UN resolutions.

Key dates in North Korea's missile programme:

Late 1970s Starts working on a version of the Soviet Scud-B (range 300 kilometres or 186 miles). Test-fired in 1984

1987-92 Begins developing variant of Scud-C (500 km), Rodong-1 (1,300 km), Taepodong-1 (2,500 km), Musudan-1 (3,000 km) and Taepodong-2 (6,700 km)

August 1998 Test-fires Taepodong-1 over Japan as part of failed satellite launch

September 1999 Declares moratorium on long-range missile tests amid improving ties with US

July 12, 2000 Fifth round of US-North Korean missile talks ends in Kuala Lumpur without agreement after North demands $1 billion a year in return for halting missile exports

December 2002 15 North Korean-made Scuds seized on Yemen-bound ship

March 3, 2005 North ends moratorium on long-range missile testing, blames Bush administration’s “hostile” policy

July 5, 2006 North test-fires seven missiles, including a long-range Taepodong-2 which explodes after 40 seconds

July 15, 2006 UN Security Council adopts Resolution 1695, demanding halt to all ballistic missile activity and banning trade in missile-related items with the North

October 9, 2006 North conducts underground nuclear test, its first

October 14, 2006 Security Council approves Resolution 1718, demanding a halt to missile and nuclear tests. Bans the supply of items related to the programmes and of other weapons

April 5, 2009 North Korea launches long-range rocket which flies over Japan and lands in the Pacific, in what it says is an attempt to put a satellite into orbit. The United States, Japan and South Korea see it as a disguised test of a Taepodong-2

April 13, 2009 UN Security Council unanimously condemns launch, agrees to tighten existing sanctions. North quits nuclear disarmament talks in protest and vows to restart its plutonium programme

May 25, 2009 North conducts its second underground nuclear test, several times more powerful than the first

June 12, 2009 Security Council passes Resolution 1874, imposing tougher sanctions on the North’s atomic and ballistic missile programmes

July 4, 2009 North test-fires seven ballistic missiles off its east coast

February 18, 2011 Satellite images show the North has completed a launch tower at its new west coast missile base at Tongchang-ri, experts say

May 15, 2011 North Korea and Iran are suspected of sharing ballistic missile technology, according to a UN sanctions report, diplomats say

March 16, 2012 North Korea announces it will launch a long-range rocket between April 12-16 to put a satellite into orbit

April 13, 2012 Rocket is launched from the Tongchang-ri base but disintegrates soon after blast-off and falls into the ocean

December 1 North Korea announces it will launch another rocket in December, triggering condemnation from its foes and concern from ally China

December 9 Pyongyang says the launch may be delayed, as analysts say technical problems or snow may be hampering preparations

December 12 North Korea launches the multi-stage rocket. Japan says it passed over its southern island chain of Okinawa but it did not attempt an interception