A system comprising: a sensor system (148, 148a, 148b, 144) configured to be mounted to a watercraft, the sensor system comprising a perimeter ranging system (148, 148a, 148b) comprising an imaging module configured to be mounted higher than a hull of the watercraft to aim down and over a side of the watercraft; and a logic device configured to communicate with the sensor system (148, 148a, 148b, 144), wherein the logic device is configured to: receive sensor data from the sensor system (148, 148a, 148b, 144), the sensor data comprising perimeter sensor data comprising an image captured by the imaging module; characterized in that the logic device is configured to: determine for the image, from the sensor data, a reference defining at least one of a horizontal reference and a vertical reference, and determine, using the sensor data, at least one orientation angle of the imaging module relative to the reference, wherein the imaging module's vertical field of view, FOV, extends down to a vertical vector, thereby providing a vertical perspective of a perimeter of the watercraft; and determine a range to a navigation hazard disposed within a monitoring perimeter of the perimeter ranging system (148, 148a, 148b) based, at least in part, on: the at least one orientation angle; a navigation hazard view from the imaging module; and a height of the imaging module above a water surface. a sensor system (148, 148a, 148b, 144) configured to be mounted to a watercraft, the sensor system comprising a perimeter ranging system (148, 148a, 148b) comprising an imaging module configured to be mounted higher than a hull of the watercraft to aim down and over a side of the watercraft; and a logic device configured to communicate with the sensor system (148, 148a, 148b, 144), wherein the logic device is configured to: receive sensor data from the sensor system (148, 148a, 148b, 144), the sensor data comprising perimeter sensor data comprising an image captured by the imaging module; characterized in that the logic device is configured to: determine for the image, from the sensor data, a reference defining at least one of a horizontal reference and a vertical reference, and determine, using the sensor data, at least one orientation angle of the imaging module relative to the reference, wherein the imaging module's vertical field of view, FOV, extends down to a vertical vector, thereby providing a vertical perspective of a perimeter of the watercraft; and determine a range to a navigation hazard disposed within a monitoring perimeter of the perimeter ranging system (148, 148a, 148b) based, at least in part, on: the at least one orientation angle; a navigation hazard view from the imaging module; and a height of the imaging module above a water surface. receive sensor data from the sensor system (148, 148a, 148b, 144), the sensor data comprising perimeter sensor data comprising an image captured by the imaging module; characterized in that the logic device is configured to: determine for the image, from the sensor data, a reference defining at least one of a horizontal reference and a vertical reference, and determine, using the sensor data, at least one orientation angle of the imaging module relative to the reference, wherein the imaging module's vertical field of view, FOV, extends down to a vertical vector, thereby providing a vertical perspective of a perimeter of the watercraft; and determine a range to a navigation hazard disposed within a monitoring perimeter of the perimeter ranging system (148, 148a, 148b) based, at least in part, on: the at least one orientation angle; a navigation hazard view from the imaging module; and a height of the imaging module above a water surface. determine for the image, from the sensor data, a reference defining at least one of a horizontal reference and a vertical reference, and determine, using the sensor data, at least one orientation angle of the imaging module relative to the reference, wherein the imaging module's vertical field of view, FOV, extends down to a vertical vector, thereby providing a vertical perspective of a perimeter of the watercraft; and determine a range to a navigation hazard disposed within a monitoring perimeter of the perimeter ranging system (148, 148a, 148b) based, at least in part, on: the at least one orientation angle; a navigation hazard view from the imaging module; and a height of the imaging module above a water surface. the at least one orientation angle; a navigation hazard view from the imaging module; and a height of the imaging module above a water surface.