When u turn your key to unlock the door, the sensor in the lock is not recognizing that the key is in the unlock position. When the door opens, the alarm thinks the car is being broken into. This is actually a common problem. What you need to do is turn the key to the unlock really slow, or try unlocking it once, leave the key in, and turn it to the unlock position again, then open the door. If the alarm is still going off, go to the passenger's side door and unlock it.
I had this same problem and took it to the dealer, they used some sensor on the door lock and told me that that was the problem with my alarm. The solution is to replace the lock mecanism ($600 CDN), or the tech said, to unlock it slowly. I unlock the door, then turn it a second time, I have had no real problems with the alarm going off anymore when I open the door.
Hope that helps.
Diesel