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Looks like you need an RS232 UART, you might want a 5 byte hardware fifo.
I'd do an experiment to verify the polarity of the RS232 signal. The official levels are (IIRC) +15v for a logic 0 and -15v for a logic one, since RS232 line drivers are historically inverting the TTL level outputs might be inverted - although the data sheet doesn't say that.
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Please note that the sensor datasheet states that the serial protocol is like RS232, but voltage levels are actually 0 to Vcc.
Then with Vcc=3.3V you can directly connect to fpga I/Os
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