修正基线系标定默认：机械初值、地面ROI与航向偏移可配，并补充G90窗导出与契约测试

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

tools/build_multisensor_npz.py

@@ -25,6 +25,7 @@ import numpy as np
 
 GPS_EPOCH_UNIX_NS = 315964800 * 1_000_000_000
 POSITION_TYPES = {"GGA", "PVTSLNA"}
+HEADING_TYPES = {"UNIHEADINGA", "GNHPR"}
 
 
 def parse_named_path(text: str) -> tuple[str, Path]:
@@ -230,7 +231,7 @@ def build_combined(
 
     heading = []
     for row in rtk_rows:
-        if row.get("type") != "UNIHEADINGA" or not row.get("checksum_valid") or not row.get("heading_valid"):
+        if row.get("type") not in HEADING_TYPES or not row.get("checksum_valid") or not row.get("heading_valid"):
             continue
         assoc = association_time_ns(row, time_basis, gps_utc_leap_seconds)
         if assoc is None:
@@ -258,7 +259,14 @@ def build_combined(
         for segment_index, source in enumerate(frame_paths):
             with np.load(source, allow_pickle=False) as frame:
                 values = {key: np.asarray(frame[key]) for key in frame.files}
-            lidar_time_ns = int(scalar(values["unix_time_ns"]))
+            lidar_device_time_ns = int(scalar(values["unix_time_ns"]))
+            if time_basis == "host":
+                lidar_time_ns = int(scalar(values["host_receive_utc_ns"]))
+                if lidar_time_ns <= 0:
+                    raise ValueError(f"host time requested but missing in {source}")
+            else:
+                lidar_time_ns = lidar_device_time_ns
+            values["lidar_association_time_ns"] = np.asarray([lidar_time_ns], dtype=np.int64)
 
             position_index = nearest_index(position_times, lidar_time_ns)
             heading_index = nearest_index(heading_times, lidar_time_ns)
@@ -337,6 +345,7 @@ def build_combined(
                 "output": str(output.relative_to(out)),
                 "source_lidar": str(source.resolve()),
                 "lidar_time_ns": lidar_time_ns,
+                "lidar_device_time_ns": lidar_device_time_ns,
                 "rtk_gga_dt_ns": position_dt,
                 "rtk_heading_dt_ns": heading_dt,
                 "rtk_valid": position_ok,