For observational period of 2009-2011 we have obtained 140 positions of Galilean satellites and 42 calculated positions of Jupiter in the system of UCAC4 catalogue (ICRS, J2000.0). Accuracy estimation gives error of mean position as 0.02-0.04". The resulting equatorial coordinates satellites were compared with the eight contemporary theories of the motion of planets and satellites. On average, the (O-C) residuals in both coordinates do not exceed 0.08" relative to all theories of motion. Comparison of the calculated equatorial coordinates of Jupiter (were obtained from observations of galilean satellites) with the INPOP10 theory of planetary motion has shown satisfactory results. The average deviations were obtained respectively (O-C)RA=0.040" and (O-C)DE=-0.053". This work was supported by the Program 22 of the Presidium of RAS and RFBR grant (12-02-00675-a).