  We determine accurate positions of the main satellites of Uranus: Miranda,
Ariel, Umbriel, Titania, and Oberon. Positions of Uranus, as derived from those
of these satellites, are also determined. The observational period spans from
1992 to 2011. All runs were made at the Pico dos Dias Observatory, Brazil.
  We used the software called Platform for Reduction of Astronomical Images
Automatically (PRAIA) to minimise (digital coronography) the influence of the
scattered light of Uranus on the astrometric measurements and to determine
accurate positions of the main satellites. The positions of Uranus were then
indirectly determined by computing the mean differences between the observed
and ephemeris positions of these satellites. A series of numerical filters was
applied to filter out spurious data. These filters are mostly based on the
comparison between the positions of Oberon with those of the other satellites
and on the offsets as given by the differences between the observed and
ephemeris positions of all satellites.
  We have, for the overall offsets of the five satellites, -29 (+/-63) mas in
right ascension and -27 (+/-46) mas in declination. For the overall difference
between the offsets of Oberon and those of the other satellites, we have +3
(+/-30) mas in right ascension and -2 (+/-28) mas in declination. Ephemeris
positions for the satellites were determined from DE432+ura111. Comparisons
using other modern ephemerides for the solar system -INPOP13c- and for the
motion of the satellites -NOE-7-2013- were also made. They confirm that the
largest contribution to the offsets we find comes from the motion of the
barycenter of the Uranus system around the barycenter of the solar system, as
given by the planetary ephemerides. Catalogues with the observed positions are
provided.
