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Single beep means something is open when you lock the car - door, oddments tray, hood, trunk, etc.
Double beep generally means something is broken in the central locking system. If you have a Durametric cable or know someone who does, its important to get the fault codes so you don't chase parts until you stumble on the broken one. You may need to take the car to an independent shop or a dealer to get the codes.
If you find there is a synchronization problem, most likely one of the door lock units needs replacing because a sensor isn't working. I had a lot of the symptoms you mention and it turned out I had to replace the passenger door lock on my 01S.
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