To an order of magnitude:
There is 1 core collapse supernova per century in a galaxy like the Milky Way and about 1 big galaxy like the Milky Way per 100 Mpc$^3$.
This gives your supernova rate as $10^{-4}$ yr$^{-1}$ Mpc$^{-3}$.
The addition of type Ia supernovae might increase the figure by 50%.
These would be figures for the local universe (say, within a billion light years). The number density would be of order 100 times higher 5-10 billion years ago (at redshifts of $z>1$) because the star formation rate and hence core collapse supernova rate in the comoving volume was $\sim 10$ times higher and the comoving volume was $\sim 10$ times smaller.
These numbers check out well against more accurate calculations and measurements in Horiuchi et al. (2009). The plot below, taken from that paper, shows measurements of the core-collapse supernova rate (note this is expressed as a co-moving density - i.e., the expansion of space as $z$ decreases has been removed) over cosmic time (recorded as distance when $z$ is small). The lower plot shows the ratio of type Ia supernovae to core-collapse supernovae. The solid lines show a prediction (and uncertainty) based on the measured star formation rate density as a function of redshift.
