Decide onFirst determine what size (in cm or inches) you want the poster to be.
FindThen decide on the quality of the print: find out how many DPIs you need for the printpurposes you are after. 300 DPI is the common reslolution for prints, but it might vary.
Then useFind an online calculator to find outto determine the dimensions in pixelspixels for your image you need to render.
Form thereSet your scene in blender to render using those dimensions.
Save to a Tiff or PNG file.
The biggest challenge for such a project is that you can preserve the colors and quality you see on, your monitor to those possible on printed media. For that it's better to consult with the printing service you'll use to,and find out from them what kind of image format they prefer to work with, and how to deal with color profileconversion from RBG to CMYK.
If possible print a small test.