[NightVisitant]

If all the neighbours are aware of the covenant and abide to it, then perhaps a simple friendly non-confrontational letter politely asking for it to be moved, signed by all the neighbouring residents would suffice in enforcing the covenant. It would be doubly polite to suggest alternatives for parking his caravan that you or the cooperative neighbours can think of - include it in your letter.

However, without wishing starting world war 3, I'm sure you are probably aware our world has landed itself in a big dollop of doodoo over the breaking of covenants. So unless you wish to summon the wrath and fury of the Lord above upon your unsuspecting neighbour... let it go.

Forgive his ignorance if he put the caravan there without knowing the rules.
Otherwise, ignore it. It's one inconsiderate fool surrounded by the contrary. He simply will not last long in the long run.