Check these sites out for your need or search google for more

http://www.stevenscreek.com/goodies/calories.shtml

http://preventdisease.com/healthtools/articles/while_walking.html
Source(s):
Google

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Though there is no out right formula for it , algorithmic formula is available probably statistical one i guess , from " President's council on Physical Fitness and Sports organization " . it calculates calories burned by using speed,weight,& distance .
Speed Miles Per Hour----- Calories/Hr for each pound of bod weight
less than 2 ------------------------- 0.95 * ur weight in pounds
2 -------------------------- 1.19 * ur weight in pounds
2.5 -------------------- -----1.41* ur weight in pounds
3----------------------- -----1.57 * ur weight in pounds
3.5--------------------------- 1.78 * ur weight in pounds
4 -----------------------------2.36* ur weight in pounds
4.5----------------------- ----2.97* ur weight in pounds
5-------------------------- ---3.79* ur weight in pounds
fr or eg , if ur GPS says u walked 12 miles in 4 hours and ur weight is 75 pounds then u can calculate your average distance you covered in an hour =distance covered /time taken=12/4 = 3miles
for 3 miles ,its 1.57 calories burned per pound per hour i.e.., 1.57*your weight in pounds =117.75 calories , and you walked for 4 hours so , 117.75*4=471 calories .
r if u wanna get rid of all this paper pencil work u can use the site http://www.indiacurry.com/ncalculators/walkingcaloriecalculator.htm or u can buy Nike + ipod (irun) . this gadget calculates calories burned by the impulse u r generating with the ground . directly indirectly it uses all those parameters u r looking for .
Source(s):
http://www.indiacurry.com/ncalculators/walkingcaloriecalculator.htm
http://electronics.howstuffworks.com/nike-ipod.htm

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@anilarora pretty much has it (nice answer) but I did want to add... you sort of NEED the time or speed you have walked. Because, for example (a 190lb person) walking 3 miles/hour would only burn around 150-200 calories, walking 5 miles/hour is more like 300, and 11 miles an hour (jogging) is more like 1000. So you could say 5 miles, but if you walked 5 miles in 2 hours your going to burn very little calories compared to doing 5 miles in 30 minutes. When moving slower you are moving more linear and don't have to lift much of your weight off the ground, just transfer weight from leg to leg. When you walk quickly or run, it is less linear, and you have to exert the energy to lift your weight off the ground. That's why there is such a big difference.

Does your gps not have an average speed for the trip function? Or time function? Every one I've seen so far does.
Also, all you have to do to make the conversion in type "###cm in inches" and "##kg in lbs" into google. Then just write them down and it will solve you a lot of problems. Should take about 10 seconds. Why are you unwilling to do the conversion, considering your willing to spend the time to make a spreadsheet?

You will not be able to get an exact number but you could get a rough estimate. Just determine once how fast you generally walk and figure out the calories/km (you could even post the numbers here and someone will help you out) and then you can just say ##calories per km. Walking average speed, depending on your weight, should be around 50 I'm guessing, since it's about 400 walking 1 hour at a moderate pace, but there are too many factors to figure it out with just 2 numbers.

Another way to get a rough estimate might be to just figure out your bmr. Doesn't give you an exact number, but it'll tell you what you use in a day.

GL!
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The guys at About.com have a nice calculator:

http://walking.about.com/library/cal/uccalc1.htm

You input your approximated speed, your weight and distance and you get your numbers.

Good luck :)
Source(s):
http://walking.about.com/library/cal/uccalc1.htm

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