Jonathan Levin's Apple OTA unpacking tool, modified to run out of the box on linux hosts and decompress to temp directory rather than your root filesystem.
pacman -S xz # ArchLinux, adjust to whatever provides liblzma for your distro
make # should work out of the box :)
Usage: ./ota [-v] [-l] [...] filename[s]
Where: -l: list files in update payload
Where: [...] is one of:
-e file: extract file from update payload (use "*" for all files)
-s string file: Look for occurences of string in file
-S string file: Look for occurences of string, NULL terminated in file
[-n] -d file1 file2: Point out differences between OTA file1 and file2
-n to only diff names
# list files contained in OTA
./ota -l payload.???
# extract entire OTA filesystem to /tmp/fs
./ota -e \* payload.???