A fully and coherent relativistic fluid model derived from the covariant formulation of relativistic fluid equations is used to study ion-acoustic solitary waves in a fully relativistic ion-electron-positron plasma. This approach has the characteristic to be consistent with the relativistic principle and consequently leads to a more general set of equations valid for fully relativistic plasmas with arbitrary Lorentz relativistic factor. Our results may be relevant to cosmic relativistic double-layers and relativistic plasma structures involving energetic plasma flows that may occur in space plasmas. Furthermore, they may complement and provide new insights into recently published results (G. Lu et al. in Astrophys. Space Sci.,