Looks like ncurses is a either dep and hasn't been added to the .bb file, or the lib in staging hasn't been linked correctly.
Take a look in the .b file and see if ncurses is a dep, if not, run 'bitbake ncurses', then 'bitbake gpsd' again.
Also mention this on the OE bug tracker, or on #oe and it'll be fixed.
Si