What I usually do is keep a log book as this is the best way (personnaly) that I think to do it.
Keep a book in the car (a A5 hard cover notebook, it fits perfecly next to the manual in the holder in the glove box) every time you fill up take down the date, fuel used to fill up (liters / gallons), distance traveled (trip). At the end of each month you add all fields to an Excel spreadsheet and get an average of the lot.
With this information and the right formulas you can get your fuel used per liter / galon, distance travelled per liter / galon and your average cost per tank.
Do this for a few months and compare the results. That should give you a 90% idea of the actual.
On comaring my averages there is approx a 0.3 - 0.5 km/l difference, so it is quite accurate.