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The Centaur (10199) Chariklo has the first rings system discovered around asmall object. It was first observed using stellar occultation in 2013. Stellaroccultations allow the determination of sizes and shapes with kilometreaccuracy and obtain characteristics of the occulting object and its vicinity.Using stellar occultations observed between 2017 and 2020, we aim atconstraining Chariklo's and its rings physical parameters. We also determinethe rings' structure, and obtain precise astrometrical positions of Chariklo.We predicted and organised several observational campaigns of stellaroccultations by Chariklo. Occultation light curves were measured from the datasets, from which ingress and egress times, and rings' width and opacity wereobtained. These measurements, combined with results from previous works, allowus to obtain significant constraints on Chariklo's shape and rings' structure.We characterise Chariklo's ring system (C1R and C2R), and obtain radii and poleorientations that are consistent with, but more accurate than, results fromprevious occultations. We confirmed the detection of W-shaped structures withinC1R and an evident variation of radial width. The observed width ranges between4.8 and 9.1 km with a mean value of 6.5 km. One dual observation (visible andred) does not reveal any differences in the C1R opacity profiles, indicatingring particle's size larger than a few microns. The C1R ring eccentricity isfound to be smaller than 0.022 (3-sigma), and its width variations may indicatean eccentricity higher than 0.005. We fit a tri-axial shape to Chariklo'sdetections over eleven occultations and determine that Chariklo is consistentwith an ellipsoid with semi-axes of 143.8, 135.2 and 99.1 km. Ultimately, weprovided seven astrometric positions at a milliarcseconds accuracy level, basedon Gaia EDR3, and use it to improve Chariklo's ephemeris.

Refined physical parameters for Chariklo's body and rings from stellar occultations observed between 2013 and 2020