The beam selection technology based on the discrete lens array (DLA) can greatly reduce the number of RF chains required by mmWave massive multiple-input multiple-out (MIMO) system. However, the performance of the existing beam selection schemes is on the premise of perfect channel state information (CSI). While in practical situation, accurate channel state information must be obtained by the base station before beam selection. In this paper, the channel estimation scheme based on support detection (SD) is used to estimate the state information of large-scale channel by utilizing the structural characteristics of beamspace. Then on the basis of group-iteration (GI) algorithm, we propose the group-iteration beam selection scheme based on estimated CSI. The simulation results show that this scheme can achieve the performance close to beam selection scheme based on perfect CSI, and compared with the traditional beam selection schemes, the proposed scheme also shows performance advantages.