Lonewolf,
Yes, in my experience they are equally loud at a distance. Muzzle devices can play a role in how the sound carries, though. The pitch of the sound is different, as everyone as mostly agreed to here, and you can tell that. Rates of fire from each weapon also are differ greatly as well. Once you've been around it enough your ear becomes "trained" or "atuned" to what each round sounds like. Even less than 100 meters away rapid gunfire can sound like a series of pops anyway.
A quick experiment you can do without joining the military. If you have access to an AR-15 and an AK patterend rifle, have a friend fire each one at the range of your choice while you are standing, 10 meters away, 50 meters, 100 meters, up to even a mile if possible. Have your friend fire single shots and rapid chains of single shots. Anything on the barrel of each weapon will alter the sound, but they're each weapon's sound is pretty close regardless of device.