jgg     2015 35 (5):  807-810    ISSN: 0412-1961  CN: 21-1139/TG The Quaternion Theory and Its Application in Coordinate Transformation School of Surveying and Land Information Engineering, Henan Polytechnic University, 2001 Shiji Road, Jiaozuo 454003, China Received: 2014-09-22  Revised: null  Online: 2015-10-10 Supporting info