When you see the “error” message try pressing the Home Button, you should get a dialogue with three options, one of which is “Start Over”. Keep trying this if necessary for several attempts, it’s been known to suddenly allow the process to continue!
Failing that you could try with another Sim card, one borrowed from a friend for example, it’s only required initially to get past the activation section after which you can put your one back in the device.
This article has a few other ideas including a Forced Restart and simply waiting a while before trying again.
http://www.irefone.com/how-to-fix-activation-error-when-ios-11-update.html