Just found this;
Where Should I Place a Carbon Monoxide Detector?
Because carbon monoxide is slightly lighter than air and also because it may be found with warm, rising air, detectors should be placed on a wall about 5 feet above the floor. The detector may be placed on the ceiling. Do not place the detector right next to or over a fireplace or flame-producing appliance. Keep the detector out of the way of pets and children. Each floor needs a separate detector. If you are getting a single carbon monoxide detector, place it near the sleeping area and make certain the alarm is loud enough to wake you up.
Obviously there is no mention of caravans, but I have mine just inside the door at about 5 foot high.