新增原始数据一步导出到 combined：对齐 Lidar-IMU 导出入口，适配 H32/G90/N300

Co-authored-by: Cursor <cursoragent@cursor.com>

tools/rscap_v2/pipeline_common.py

@@ -131,6 +131,39 @@ def parse_heading(line: str) -> dict:
     }
 
 
+def parse_pvtslna(line: str) -> dict:
+    """Parse Unicore/G90 ``#PVTSLNA`` into GGA-compatible position fields.
+
+    ``fix_quality`` is synthesized as 4 when checksum-valid coordinates exist so
+    the existing prepare gate (accepted fixes {4,5}) keeps working. Position
+    stddevs are retained for audits.
+    """
+    star = line.rfind("*")
+    fields = line[1:star if star >= 0 else None].split(",")
+    if len(fields) < 16:
+        raise ValueError("PVTSLNA has too few fields")
+    tow = safe_float(fields[5])
+    return {
+        "type": "PVTSLNA",
+        "gnss_week": safe_int(fields[4]),
+        "gnss_tow_ms": int(tow) if tow is not None else None,
+        "altitude_m": safe_float(fields[10]),
+        "lat_deg": safe_float(fields[11]),
+        "lon_deg": safe_float(fields[12]),
+        "height_std_m": safe_float(fields[13]),
+        "latitude_std_m": safe_float(fields[14]),
+        "longitude_std_m": safe_float(fields[15]),
+        # Downstream prepare still filters on NMEA-style fix quality.
+        "fix_quality": 4,
+        "satellites": -1,
+        "hdop": None,
+        "differential_age_s": None,
+        "position_time_utc": "",
+        "geoid_separation_m": None,
+        "station_id": "",
+    }
+
+
 def chunk_source(chunks: list[RawChunk], offset: int, end: int) -> dict:
     first = chunks[0]
     last = chunks[-1]
@@ -184,6 +217,8 @@ def parse_rtk_capture(capture: CaptureFile) -> list[dict]:
             try:
                 if line.startswith("$GNGGA") or line.startswith("$GPGGA"):
                     row.update(parse_gga(line))
+                elif line.startswith("#PVTSLNA"):
+                    row.update(parse_pvtslna(line))
                 elif line.startswith("#UNIHEADINGA"):
                     row.update(parse_heading(line))
             except ValueError as ex: