Edit:
Here is more information about that:
> Protecting Your Right to Tinker
> Tivoization is a dangerous attempt to curtail users' freedom: the right to modify your software will become meaningless if none of your computers let you do it. GPLv3 stops tivoization by requiring the distributor to provide you with whatever information or data is necessary to install modified software on the device. This may be as simple as a set of instructions, or it may include special data such as cryptographic keys or information about how to bypass an integrity check in the hardware. It will depend on how the hardware was designed—but no matter what information you need, you must be able to get it.
Source: https://www.gnu.org/licenses/quick-guide-gplv3.en.html
That means if there was GPLv3 code in iOS, Apple would have to send you their private keys to sign any source code so you can run it on iOS.