It looks like missile launch vehicle for the Japanese Type 03 medium-range guided missile. It’s a SAM system the Japanese developed to replace the Hawk batteries.

The New Medium Range Surface-to-Air MissileSystem Chu-SAM (Type 03)(Chu-SAM), as the replacement of the Improved Hawk System, will provide overall air defense coverage over army operation areas to protect units and facilities. This missile will be precisely guided to the target by the combination of pre-programmed navigation, up-to-date command link, and active radar homing. Max range: 50 km (31 mi).