Pull the firing pin retainer which is the little "cotter pin" that holds the firing pin in place. You may have to push it out partly from one side, the when the head is exposed, pull out and set aside. Now, with the bolt up, shake out the firing pin. Push the bolt all the way into the carrier, and twist the cam pin 90 degrees. (The cam pin rides in a diagonal slot under the carrier key) The cam pin cannot turn with the firing pin installed, as the firing pin goes through a hole in the cam ping. With the bolt pushed back into the carrier, and after twisting the the cam pin may be removed. It will just barely slide past the carrier key. (The carrier key is the part that engages with the gas tube in the upper receiver.) Now the bolt can be pulled out. On the rear of the bolt you will find the gas rings. Pry one end up and over the lip of the end of the bolt. Work around the ring and push it over the lip all the way around. Do the same with the other two rings. Clean everything well, and reassemble.
You may want to consider the one-piece spiral McFarland ring. A number of manufacturers are using them now, incl Armalite. I have them in most of my AR's.