Just recently I have noticed that my iPad 2 is emitting a fairly loud chirping noise. Sounds like a bird or crickett. The sound is emitted in two discreet bursts and again, it is fairly loud. You can easily hear it across a fair sized room. It is unlike the high chirping noise I have read about, and heard, on the iphone which is a more prolonged single high pitched noise.
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If you use the Messages app on your iPad, you may want to check that the setting for Repeat Notification is turned off for it as that could be causing it to beep more than once. That will be in Settings > Notifications > Messages > Repeat Alerts.