Gear transmission systems are key components in rotating machinery, and its remaining useful life (RUL) prediction can provide adequate leading time for well-timed maintenance. Existing RUL prediction models usually rely on sufficient training data. However, the acquisition of full life cycle dataset of gear transmission system is difficult or impossible. To solve the problem on the difficult startup and poor generalization of prediction model under zero environment, a dual-drive prediction method based on dynamic model of gear transmission system and unsupervised domain adaptation is proposed in this paper. Firstly, a dynamic model of gear transmission system and growth mechanism of local defect is established to generate full-life cycle simulation data. Then, the multi-scale modulation features are extracted based on simulated and measured data. Furthermore, multi-scale temporal convolution operations are introduced into dual-channel unsupervised domain adaptation model. Besides, a compound principle of reverse truncation and forward expansion principle is investigated to determine the first prediction time. Finally, the validity of the proposed model is verified by two kinds of gearbox data. Ablation experiments are carried out to evaluate the contribution of each module in proposed model. In addition, the effectiveness and generalization ability of proposed model are verified when compared with other advanced transfer learning methods.