As of April 2018, there is no way (in SPARQL).
The RDF Dump format says:
Note that the calendar model is the original values calendar model even if wikibase:timeValue was converted to Gregorian.
Try this query:
SELECT * {
wd:Q935 p:P569 [ wikibase:rank ?rank ;
ps:P569 ?simplevalue ;
psv:P569 [ wikibase:timeCalendarModel ?calendar ;
wikibase:timeValue ?value ]
]
}
As you can see, there are two statements (one of them is not truthy), but the value is 4 January 1643 independently of the calendar model.
rank simplevalue calendar value
------------------------ ---------------- ------------- ----------------
wikibase:NormalRank 4 January 1643 wd:Q1985727 4 January 1643
wikibase:PreferredRank 4 January 1643 wd:Q1985786 4 January 1643
By the way, Wikidata API returns two different dates:
"value": {
"time": "+1643-01-04T00:00:00Z",
"timezone": 0,
"before": 0,
"after": 0,
"precision": 11,
"calendarmodel": "http://www.wikidata.org/entity/Q1985727"
}
"value": {
"time": "+1642-12-25T00:00:00Z",
"timezone": 0,
"before": 0,
"after": 0,
"precision": 11,
"calendarmodel": "http://www.wikidata.org/entity/Q1985786"
}