Calculating the actual amount of energy a solar panel will produce on your particular roof or for a ground mount involves many factors so the calculation process is somewhat complex. You can first figure out hte daily energy production by multiplying the panel capacity (watts) by the hours of sunlight. But, as EnergyGuy 805 mentioned, the tilt and orientation of the panels impacts the hours of sunlight so usually a tool like a Sun Eye is used to account for efficiency and the optimal siting location. Then, of course, variations by season need to be calulated, a certain amount of percantage should be factored in for general inefficiencies due to dirt, dust, shading, etc. Finally, you can figure out the annual energy productsion by multiplying the daily energy amount by 365 (days/year).
Although this can be a fun project to do on your own, you might be able to get a solar contractor to even give you an estimate remotely as there are quite a lot of software tools out now used by solar professionals. Best of luck!