This missile is the one that strikes the Eiffel Tower in Paris and knocks it down. This was mounted below the camera for sort of a 'missile's eye' view as the missile just misses the terrorist and hits the tower. It looks like it was one of the Hummer missiles at one time, but they removed the fins and re-painted it to look like a missile from Joe's rocket launcher.

I tried to take a picture of it in the same perspective as in the movie, but my
camera doesn't have the right lens to make it perfect...