In order to improve the launching safety and reduce launching costs of the vehicle-launched missile, a simple ground launch system is proposed for the launch test during the development of the missile. The ground launching gantry and the launching device are introduced respectively based on the modular and generalized design ideas. Based on the multi-body kinematics theory method, the ground launching system dynamics simulation analysis model is established and achieved, which can realize the inclined launch of the missile. Simulation results show that the launch system is feasible and can meet the launch requirements of the missile.