This bit of information throws a totally new perspective on the land you are attempting to use. Considering there was (or is) a mobile home, tells me the electric service is already installed to this location. All you need to do is have the power company hook up a "new" service for you. Should be relatively simple.
Considering there was already a mobile home there, the property probably already has a water source (either city water or a well), and it should already have city sewer service or a septic tank.
I don't know what kind of inspections are needed, if any, on the well or the septic to start using them again. If you were building a new building, (a stick and brick house), then you'd probably need some kind of inspection everything is connected correctly, but that would be about all.
I think what you are proposing is very doable, ESPECIALLY if a mobile home already existed there. Somehow, you'll need to convince the power company that the electric service for the property is going to be used for a permanent dwelling.
I still think, if you are going through this much headache, if you could actually build a building, a small garage, even a garden house, you'd have a permanent structure on the property. Then you can run anything you need for your camper.
Why not build a permanent structure with a living room, kitchen, and bath, and then attach a gigantic RV port to park your camper under. You'd have a fantastic arrangement then. I'd love to do something like that!