The chirping sound occurs when your alternator kicks on and off, which causes additional drag on the belt. Alternators are not charging at their full capacity unless needed. When they start charging, the drag increases, which can cause a chirping sound. When you initially start your engine, it takes a lot from the batteries and they need to be topped off, hence the alternator kicks in. If you want to dig around underneath and on top of your engine, you can buy a can of belt dressing and thoroughly spray the belt all over and let it dry. Then start your engine and see if the noise goes away. Belt dressing is not a fix, but in some cases it does quiet a slipping belt for a short time.