Not much more to explain.
There's a limit to how large a download can be on cellular data. When I answered this back in January, then limit was 100MB. It's since been increased to 150MB. Its a cellular carrier limitation Apple chooses to follow and enforce.
Why the enforce it, like because many people do not have unlimited data and that would make downloads over cellular cause many financial issues to these people if they go over their limit and get overcharged for downloading 1 or 2GB of update over cellular. Going over your cellular data limit can be very very expensive depending on your carrier.
With Wifi being as accessible as it is today, it should be a simple thing to find a Wifi network to connect to to download the update, or use a computer.
You cannot update over cellular. If this is a feature you require, you can send Apple feedback to request it, and maybe they'll consider making it possible in a future iOS update. Feedback - iPhone - Apple