Abstract: The Bursa-Wolf model,molodensky model etc.are widely used in geodesy,photogrammetry and other subjects to solve the transformation parameters between three-dimension coordinates.These models are limited to the coordinate transformation of small rotation angle.But,in practice,a great many coordinate transformation of big rotation angle are needed to be determined.Traditional 3D coordinate transformation model is improved that can solve any rotation angle's 3D coordinate transformation.The examples indicate that the proposed algorithm is feasible and can determine the transformation parameters quickly.