Hints :

-- For $K= {\rm GL}(n,{\mathbb Z}_p )$. Make $G={\rm GL}(n,{\mathbb Q}_p )$ acts on ${\mathbb Z}_p$-lattices of ${\mathbb Q}_p^n$. Prove that the lattices stabilized by $K$ are the $p^k {\mathbb Z}_p^n$, $k\in {\mathbb Z}$. Observe that the normalizer $\tilde K$ of $K$ permutes these lattices and conclude that ${\tilde K}={\mathbb Q}_p^\times K$.

-- For $K=O(n)$ (or $U(n)$). Do someting similar by making $G$ act on the set of positive definite symmetric (hermitian) matrices via $(X,A)\mapsto XA{\bar X}^{t}$.

In general, for a non-archimedean base field, you can make $G$ act on the extended Bruhat-Tits building, but the answer is going to be technical according to whether $G$ has a center or not, is simply connected or not. Over archimedean fields, I guess you have to use symmetric spaces.

Hints :

-- For $K= {\rm GL}(n,{\mathbb Z}_p )$. Make $G={\rm GL}(n,{\mathbb Q}_p )$ acts on ${\mathbb Z}_p$-lattices of ${\mathbb Q}_p^n$. Prove that the lattices stabilized by $K$ are the $p^k {\mathbb Z}_p^n$, $k\in {\mathbb Z}$. Observe that the normalizer $\tilde K$ of $K$ permutes these lattices and conclude that ${\tilde K}={\mathbb Q}_p^\times K$.

-- For $K=O(n)$ (or $U(n)$). Do someting similar by making $G$ act on the set of positive definite symmetric (hermitian) matrices via $(X,A)\mapsto XA{\bar X}^{t}$.

In general, for a non-archimedean base field, you can make $G$ act on the extended Bruhat-Tits building, but the answer is going to be technical according to whether $G$ has a center or not, is simply connected or not. Over archimedean fields, I guess you have to use symmetric spaces.