Use SignJump. For whatever reason, Vim offers no way to quickly jump to tags outside of the horrendously unfriendly :sign jump command.
Once installed, simply use ]s and [s to jump to the next and previous sign relative to the cursor position. You can also use ]S and [S to jump to the first and last sign, respectively. It is general purpose and will jump to any sign.
Full Disclosure: I am the author of this plugin.