Remove the rind from the 2 oranges and the 2 limes using a zester. Peel all the fruit with a knife, carefully removing all the pith. Slice the oranges and satsumas and segment the limes, blood oranges and grapefruit.
Reserve some of the orange and lime rind for decoration and put the rest into a saucepan with the sugar and water and cook over a gentle heat, stirring until the sugar has dissolved. Pour the syrup over the fruit and leave to stand in the refrigerator for at least 1 hour before serving. Serve decorated with the reserved orange and lime rind.