Just updated to Xcode 7.1 and getting this error. Was able to upload fine using 7.0.1
If you encounter this error, you have two options:
Option A - Engage in an activity that takes a minute or two. Could be any of the activities described in the other answers, like re-install XCode, renew certificates, do a new build from scratch after clearing caches. Or simply go get a coffee.
or
Option B - Do nothing at all for a little while.
Then, try again. If it doesn't work, repeat.