How to convert a SVG to a PNG with ImageMagick?

I have a SVG file that has a defined size of 16x16. When I use ImageMagick's convert program to convert it into a PNG, then I get a 16x16 pixel PNG which is way too small:

convert test.svg test.png

I need to specify the pixel size of the output PNG. -size parameter seems to be ignored, -scale parameter scales the PNG after it has been converted to PNG. The best result up to now I got by using the -density parameter:

convert -density 1200 test.svg test.png

But I'm not satisfied, because I want to specify the output size in pixels without doing math to calculate the density value. So I want to do something like this:

convert -setTheOutputSizeOfThePng 1024x1024 test.svg test.png

So what is the magic parameter I have to use here?

I haven't been able to get good results from ImageMagick in this instance, but Inkscape does a nice job of scaling an SVG on Linux and Windows:

# Inkscape v1.0+
inkscape -w 1024 -h 1024 input.svg -o output.png

# Inkscape older than v1.0
inkscape -z -w 1024 -h 1024 input.svg -e output.png

Note that you can omit one of the width/height parameters to have the other parameter scaled automatically based on the input image dimensions.

Here's the result of scaling a 16x16 SVG to a 200x200 PNG using this command: