I had this issue and the root cause turned out to be white-space (shown as dots below) after the www.springframework.org/schema/beans reference in xsi:schemaLocation, i.e.
<beans xmlns="http://www.springframework.org/schema/beans"
xmlns:context="http://www.springframework.org/schema/context"
xmlns:mvc="http://www.springframework.org/schema/mvc" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns:p="http://www.springframework.org/schema/p"
xsi:schemaLocation="
http://www.springframework.org/schema/beans....
http://www.springframework.org/schema/beans/spring-beans-4.2.xsd
http://www.springframework.org/schema/context
http://www.springframework.org/schema/context/spring-context-4.2.xsd
http://www.springframework.org/schema/mvc
http://www.springframework.org/schema/mvc/spring-mvc-4.2.xsd">