We present the astrometry of the five largest satellites of Uranus from observations spread over almost three decades with photographic plates and CCDs (mainly), taken at the Pico dos Dias Observatory - Brazil. All positions presented here are obtained from the reanalysis of measurements and images used in previous publications. Reference stars are those from the Gaia Early Data Release 3 (Gaia EDR3) allowing, in addition to a higher accuracy, a larger number of positions of the largest satellites as compared to our previous works. From 1982 to 1987, positions were obtained from photographic plates. From 1989 to 2011, CCDs were used. On average, we obtained {Delta}{alpha}cos{delta}=-11(+/-52) milli-arcseconds and {delta}{delta}=-14 (+/-43) milli-arcseconds for the differences in the sense observation minus ephemerides (DE435+ura111). Comparisons with different ephemerides (DE440, INPOP21a, INPOP19a and NOE-7-2013-MAIN) and results from stellar occultations indicate a possible offset in the (Solar System) barycentric position of the Uranian system barycenter. Overall, our results are useful to improve dynamical models of the Uranian largest satellites as well as the orbit of Uranus.

Cone search capability for table J/other/PSS/210.1/miranda (Positions of Miranda)

Cone search capability for table J/other/PSS/210.1/ariel (Positions of Ariel)

Cone search capability for table J/other/PSS/210.1/umbriel (Positions of Umbriel)

Cone search capability for table J/other/PSS/210.1/titania (Positions of Titania)

Cone search capability for table J/other/PSS/210.1/oberon (Positions of Oberon)