This paper investigated the optimal satellite launcher trajectories. We derived the equations of motion for the satellite launcher and solved the optimal problem with the method of Hamiltonian minimization. A launcher suited the requirements was proposed. The main difficulty of solving optimal problem with Hamiltonian Minimization is that we have to search for initial conditions. By using shooting method and Error Matrix, we can find initial conditions and save computing time. In the case of two or three unknown initial conditions, we successfully use Error Matrix to save computing time.