When I got my first RIB I went to get a pressure gauge. The guy at the store said "You don't need that, just pump it up 'til is it firm." For the two RIBs I had, this worked very well, and I never got a gauge. However, do remember that the pressure can change a lot during the day. Keeping the boat on the water will mitigate this a lot, but you should still check the tube pressure regularly throughout the day. Beaching the boat on a hot sunny day will allow the tube pressure to get fairly high in a short amount of time. The color of the tubes will also affect the heat accumulation of the tube and therefore the pressure. A boat with black tubes pumped up in the morning and left alone can burst if left in the strong sun too long.
Once I was towing a RIB and went through a summer thunderstorm. The boat was pumped firm for towing. In the course of about half an hour the temperature dropped about 20 deg F and then recovered. Watching in the review mirror I could see the RIB go from firm to floppy and back to firm.