You know what might work...
I've seen these services advertised where a company will take an aerial photograph of your house for real estate listings, etc. They sometimes use what looks like a small blimp. Might be neat for boat photos. Check out this link:
Hell, depending on your mast height, you might be able to mount one of those remote control pan/zoom cameras they have advertised up there. The more I look, the more I start coming up with ideas for my own boat that I don't own yet...dammit.