In the Landau--de Gennes theory, a nematic liquid crystal is described by a tensor order parameter, ${\bf Q}$, which, at each point of the region $\Omega$ occupied by the system, is a symmetric, traceless $3 \times 3$ matrix. The free-energy density $\psi$ of nematic liquid crystals is expanded into powers of the components ${\bf Q}_{ij}$ of ${\bf Q}$ and ${\bf Q}_{ij,k}$ of its gradient $\nabla {\bf Q}$, and can be decomposed in the sum $\psi = \psi_B + \psi_E$ of the bulk part $\psi_B({\bf Q})$ and the elastic part $\psi_E({\bf Q}, \nabla {\bf Q})$. A most common expression for $\psi_E$ is given by the four-constant approximation $\psi_E({\bf Q},\nabla {\bf Q}) = L_1 {\bf Q}_{ij,j}{\bf Q}_{ik,k} + L_2 {\bf Q}_{ik,j}{\bf Q}_{ij,k} + L_3 {\bf Q}_{ij,k}{\bf Q}_{ij,k} + L_4 {\bf Q}_{lk}{\bf Q}_{ij,l}{\bf Q}_{ij,k} $ [J. M. Ball, The Mathematics of Liquid Crystals, Cambridge Centre for Analysis short course, 2012, https://people.maths.ox.ac.uk/ball/teaching.shtml, H. Mori, E. C. Gartland, Jr., J. R. Kelly, and P. J. Bos, Jap. J. Appl. Phys., 38 (1999), pp. 135--146, N. J. Mottram and C. Newton, Introduction to $Q$-tensor theory, Technical report, Department of Mathematics, University of Strathclyde, Glasgow, UK, 2004, arXiv:1409.3542 [cond-mat.soft], 2014]. For general ${\bf Q}$-tensors, it was shown that if $L_4\neq 0$, the corresponding free-energy functional is unbounded from below [J. M. Ball, The Mathematics of Liquid Crystals, Cambridge Centre for Analysis short course, 2012, https://people.maths.ox.ac.uk/ball/teaching.shtml, J. M. Ball and A. Majumdar, Mol. Cryst. Liq. Cryst., 525 (2010), pp. 1--11]. On the other hand, if $L_4=0$ and $L_1$, $L_2$, and $L_3$ satisfy appropriate conditions, the elastic part of the energy functional is bounded and coercive [T. A. Davis and E. C. Gartland, Jr., SIAM J. Numer. Anal., 35 (1998), pp. 336--362, L. Longa, D. Monselesan, and H.-R. Trebin, Liq. Cryst., 2 (1987), pp. 769--796]. In the constrained theory in which ${\bf Q}$ has position independent eigenvalues, only the elastic energy has to be considered, since the bulk energy is constant. For constrained uniaxial systems, it is known that if $L_4\neq 0$, the elastic density $\psi_E$ reduces to the classical Oseen--Frank density, and relations among $L_1$, $L_2$, $L_3$, and $L_4$ can be obtained so that the energy is coercive [J. M. Ball and A. Zarnescu, Arch. Ration. Mech. Anal., 202 (2011), pp. 493--535, J. L. Ericksen, Inequalities in liquid crystal theory, Phys. Fluids, 9 (1966), pp. 1205--1207, L. Longa, D. Monselesan, and H.-R. Trebin, Liq. Cryst., 2 (1987), pp. 769--796]. In this paper we address the question of coercivity for constrained biaxial systems. Conditions on $L_1$, $L_2$, $L_3$, and $L_4$ guaranteeing coercivity of the energy, and hence the existence of minimizers, are established. In particular, we shall obtain the constrained biaxial counterpart of the classical Ericksen conditions for the constrained uniaxial case. For the proof, after deriving a Cartesian representation for $\psi_E$ in terms of the three orthonormal eigenvector fields of ${\bf Q}$, we use the identification of the order parameter space with the eightfold quotient of ${\mathbb S}^3 \cong Sp(1)$ by the quaternion group ${\mathcal H}$ and the description, in this model, of the condition for the frame indifference of Landau--de Gennes energy densities as given in [D. Mucci and L. Nicolodi, Arch. Ration. Mech. Anal., 206 (2012), pp. 853--884].