Does the MIP Protocol Integration SOAP API allowing for querying the coordinations (latitude,longitude) assign to camera in Milestone?

Yes.

If you run the Config API Client sample you can see how you can access the Device position.

The configuration API is also a Soap protocol.

http://doc.developer.milestonesys.com/html/index.html?base=gettingstarted/intro_soap_protocols.html&tree=tree_3.html