Let's assume you have 3/4" return pumbing – that adds another foot and a half to your total vertical head pressure.
Total head pressure: 5.5 ft
Your next step is selecting a pump – hopefully your manufacturer puts out a flow curve to guide your choice. This is Sicce's for their Syncra Silent series:
5.5' = 1.8 meters
480 GPH = 1800 L/h
Sicce
From the chart, a Syncra 3.0 or 3.5 will deliver the flow you want. Choose the one that uses the least power, or fits the smallest space, or conforms to your plumbing better, or retails for less cost, etc.
Danner
From the chart here:
http://www.dannermfg.com/Store/images/instructions/ZG120.pdf
Danner would recommend the Mag 5 on the lowest end, but a Mag 7 would hit your 480 GPH number.
http://www.dannermfg.com/Store/images/instructions/ZG100.pdf
A 9.5 would be significant overkill, delivering between 700 GPH and 800 GPH. (around 6x-7x)
Look at the price of those pumps and the relative power usage, and it's not too hard to pick a right sized pump.
I just checked out aquacave, and the Sicce's mentioned go for either $88 or $110. They use 50 or 70 watts, respectively.
The Mags mentioned are $80, $90 or $120. They use 45, 70 and 93 watts, respectively.