The Pansat 9200HD receiver will automatically decode AC3 audio signals, just like they were "normal". It costs a bit more, but is automatic and will also give you the PBS national HD channels in all of their glory (HD video and Dolby digital sound).
Otherwise, many quality receivers such as other recent Pansat units after model 2500, the Traxis DBS-3500, and others will pass through AC-3 audio component through an SPDIF jack or an optical connection. If you have a stereo receiver with Dolby digital processor section, it will decode this audio.
The answer in a nutshell is to spend money---either on a full featured HD receiver such as the Pansat 9200HD, or use a basic MPEG-2 receiver that passes AC3 audio, with a compliant stereo receiver.