1 install gpsd and gpsd-client. (Ubuntu: apt-get gpsd; apt-get gpsd-client. Or download gpsd and gpsd-client rpm, then install them)
2 configure serial port or usb port , and confirm the port path (for example: /dev/ttyS0); then connect to gps module
3 use command below to test if the serial port can receive data from GPS module.
stty -F /dev/ttyXXX ispeed 4800 && cat </dev/ttyXX
4 Start gpsd: