I've been wondering this too, since I like to experiment, and I've just come up with this:
SG = (W+S)/(W+0.625xS)
where W = water in litres
and S = sugar in kg
That's from combining SG = density of solution/density of water
with the formula vf = vi +A/b
where vf is final volume in litres, vi is initial volume in litres, A is grams of sugar, and b is constant 1600 g/litre
which I found here:
http://www.brsquared.org/wine/CalcInfo/addcalc.htm
(where it explains that the vf formula is approximate but works well)
I've tested my formula against a couple of solutions I made up, and it is close to my actual SG readings. Also, for 0.93 gallons water and 1 lb sugar it gives 1.04476, whereas someone else here said SG would be 1.046. Difference could be due to rounding at steps in the calculations.
Thoughts anyone?