Astrometric positions of the first eight largest Saturnian satellites and the Lagrangian satellites Helene, Telesto and Calypso are presented from 493 CCD frames taken at the oppositions in 1995 through 1999. The images were obtained over 27 nights. Observed positions are compared with the calculated ones from Vienne and Duriez TASS 1.7 for the large satellites and from JPL positions for the Lagrangian satellites. The rms is about 0farcs 12 for the former but 0farcs 20 for Iapetus and 0farcs 28 for Hyperion. For the Lagrangian satellites it is about 0farcs 21 for Helene, 2farcs 02 for Telesto and 0farcs 60 for Calypso.