Sorry to hear of the issue.
Yes, there is an option and that would be to apply to the local county court for a civil injunction. This a court order requiring them to do something or refrain from pursuing a course of conduct. If they are in breach of the covenants then this triggers your right to a legal remedy being the injunction.
However, before you do this, send the neighbour a cease and desist letter to warn them of your intentions unless they confirm they will remove the caravan (and give them 14 days to confirm back and to allow them to seek legal advice).
A template “cease and desist” letter is available at this site : https://www.lawdepot.co.uk
If you go to the search box in the top right corner of the site, it will bring up a list - you want the "general" letter.
That letter may well be enough to stop the conduct - as an injunction is a serious legal remedy. The judge will want to see that you have sent the cease and desist letter given an injunction is a last resort.
Assuming they ignore the letter then you will need to a) issue a claim under Part 8 of the Civil Procedure Rules and b) apply for an injunction.
If granted, the Order is then served on the individual concerned and they are bound by the court order - if they breach the order, they are in contempt of court and could well face a fine and/or a prison term of up to 2 years.
The order will say they must stop their conduct with immediate effect. They are very effective given the consequences of breaching the terms of the injunction.
The cease and desist letter will hopefully work so you may not need to apply but if you then I recommend you ask a law firm to assist.
As you will appreciate from the above, the forms must be filled in correctly (we cannot do it for you nor can we give you legal advice - as we are not a law firm - we are an internet forum).
If your immediate neighbours are also in agreement then you could share the cost (which shouldn't be too high for this) - and if you win then the defendant would be liable to repay you.
Here are a few law firms who could help further with this :