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Pseudolite deployment is the premise of ground-based pseudolite system networking, which affects the coverage and positioning accuracy of ground-based pseudolite systems. Optimal deployment algorithms can help to achieve a higher signal coverage and lower mean horizontal precision factor (HDOP) with a limited number of pseudolites. In this paper, we proposed a multi-objective particle swarm optimization (MOPSO) algorithm for the deployment of a ground-based pseudolite system. The new algorithm combines Digital Elevation Model (DEM) data and uses the mean HDOP of the DEM grid to measure the geometry of the pseudolite system. The signal coverage of the pseudolite system was calculated based on the visual area analysis with respect to reference planes, which effectively avoids the repeated calculation of the intersection and improves the calculation efficiency. A selected area covering 10 km×10 km in the Jiuzhaigou area of China was used to verify the new algorithm. The results showed that both the coverage and HDOP achieved were optimal using the new algorithm, where the coverage area can be up to approximately 50% and 30% more than using the existing particle swarm optimization (PSO) and convex polyhedron volume optimization (CPVO) algorithms, respectively. [ABSTRACT FROM AUTHOR]