If you dont want to spend any money, then you can also make a graph for yourself that will give you an idea using Junior Cert Maths. Theoretically you can take the speed at 2000 rpm, 3000rpm and 4000rpm. You can then make a graph, speed versus rpm, and plot the 3 points. This should give you a striaght line that you can extend as far as you want. If you want to know the speed at 7000rpm, then draw a line up to where it meets your graph line, then draw across to where it hits the speed axis and you will have your speed.
Of course this doesnt take into account friction loss's, any element of clutch slip, wind, uphill, downhill, tyre wear, bigger alloys or anything else that could affect it. The other thing is the allowance on the speedo, if this is constant (say 5mph) then its fine but if its a percentage then you need to know the percentage and account for it in the graph.
To be accurate, you could get an RSM but this doesnt account for tyre wear or bigger/smaller alloys either. The most accurate is probably the GPS tracker, where it just uses the basic distance/time formula and its the most accurate one