A quick hack (not recommended though as it most likely gives ntpd access to shm and opens up a security hole) is to edit /etc/apparmor.d/tunables/ntpd and use:
@{NTPD_DEVICE}="/proc/sysvipc/shm"
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https://bugs.launchpad.net/bugs/722815
Title:
apparmor prevents ntp from reading gpsd
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