Japan and the United States agreed Tuesday that the U.S. Navy will improve measures for giving prior notification to the Japanese government of port calls by U.S. submarines.

In a joint press statement, the two sides confirmed for the first time in writing that the U.S. will inform Japan at least 24 hours in advance of where and when its submarines plan to stop in Japanese ports.

"The U.S. Navy reaffirmed that it will normally inform the Ministry of Foreign Affairs of Japan at least 24 hours in advance as to the estimated arrival and intended location of mooring or anchoring of its nuclear-powered submarines," the statement said.