They make gauges that do this. All the hot-rod guys seem to love to put these on. I am guessing you could get one to read down at these levels. You could also make a manometer, which is to say a long clear tube of any diameter running vertically. By my calculations, if your pump puts out 3 psi, then it will support a column of gas about 9.8 ft high. You could hook this tube up to the system, and with the pump off, you may notice if gas runs into the tube, and where it settles. All things being equal, it should find the same level as the gas currently in your tank. All things may not be equal, since the system may have a check valve in there somewhere, so maybe no gas will come out. If you see gas, call that zero; if not, call the pump location zero. Turn on the pump and see how high the gas goes up the tube. (This will be hard if pump is mechanical, as you will need the engine running. The make-shift manometer would then have to be T-ed in to the line, so gas goes to the carbs too.) With total height at 3 psi of 9.8 ft, you will have plenty of accuracy w/ a tape measure to read out the pressure. This is based on assuming gas is 0.7 grams/cubic centimeter density (water is 1.0 gm/cc, BTW). I think I'd buy the gauge.
PS: tube does not have to be straight, just has to have an opening comfortably higher than ten feet, and open at the top. Furthermore, if your neighbors see you doing this, they will rightly believe you have lost your mind.