A system to detect a position of a pipe with respect to a BOP includes a casing disposed around an outer surface of a section of the pipe. The system further includes sensing devices that are disposed on the casing and arranged to form a plurality of arrays and configured to generate position signals. The arrays are disposed circumferentially around the casing and spaced from one another along the length of the casing. The system includes a processing unit configured to compute distance between the pipe and each sensing device. The processing unit generates a first alert when the distance between the pipe and at least one sensing device is different from a reference distance. The processing unit generates a second alert when the distance between the pipe and each sensing device of at least one array of sensing devices is different from the reference distance.