Google Maps as mentioned here is a cheap alternative, but if
you're looking for something better, Singapore Map by street
directory on Google Play is better since the publishers are mainly
in Singapore.
But if you're looking for GPS systems, some taxis come with
them. If you're driving with Comfort or Citycab(now both known as
ComfortDelgro Taxis), knowing some parts of the road would be
enough. But their GPS system inside is shitty, they provide you
with a freaking dot and a straight line to your destination.
You could check Garmin's website, they're quite renowned for
their Satellite navigation systems. Here. There are no pricings on
their site as you have to go to authorised retailers to buy
them.
But ultimately, Sim Lim Square is the best option.
Couple of solutions to choose from.