I had the same problem and solved it by correctly escaping ^, _, and |. Looks like LaTeX sets both $s itself if you seem to have forgotten them. Everything that may intend being a math formula causes this error.
https://tex.stackexchange.com/questions/52804/missing-inserted-inserted-text#115855
! Missing $ inserted. <inserted text> $
原文：https://www.cnblogs.com/profesor/p/15237798.html