A total of 10,339 positions of the five major Uranian satellites (Ariel, Umbriel, Titania, Oberon and Miranda) were collected at the Yunnan Observatories from 2013 to 2020 with the 1.0m astrometric reflector. A median filtering method was applied to reduce the influence of the bright Uranus halo. All CCD observational data was analyzed by the newly developed CCD image-processing software with Gaia DR3 as the reference catalog. The impact of different exposure times on satellite positioning accuracy was evaluated. The observational positions of satellites were compared with theoretical positions from Institut de Mecanique Celeste et de Calcul des Ephemerides (DE441 and Lainey+ 2015) and the mean offsets are from -0.115" to 0.103" in both R.A. and decl. for the five satellites. The standard deviation of the offsets are from 0.008" to 0.086" for the four greatest Uranian satellites and from 0.037" to 0.132" for Miranda in each direction. These precise observations of the five major Uranian satellites over an 8yr period will be very useful for improving the orbital parameters of both Uranus and its five major satellites.