This post is targeted to the ongoing issue with Cydia Impactor and self signing certificate error while trying to install Yalu IPA on iOS 10.
A simple workaround for that would be to install the IPA signed by someone else, example:
Open the following link on your device and install the IPA.
Verify the profile once it's installed and jailbreak again.
The root cause as to why Impactor isn't working on Windows is that on Windows, it uses a self signed certificate which has been revoked by Apple. While /u/saurik works on the fix, we can use this workaround and get things working.