The only times that I get this are when I put my system in Hibernate, and then bring it back up. It will then give me this same message. I then click on the Menu\GPS Status Button Then click on the GPS Settings button at the top left. It will then reconnect. I then close this and its now back up and running fine for me.
I just have to do this every time that I bring the system out of Hibernate.
Hope this helps.