Accurate localization and detailed environmental perception are critical for planetary exploration, particularly in unstructured and complex terrains. To support such efforts, we present the WHU-PA3D dataset, a planetary analog dataset collected in the Mars-like Qaidam Basin. This dataset includes eight handheld LiDAR point cloud sequences and seven UAV image sequences, documenting diverse terrains such as yardangs, water-eroded landscapes, and canyons. It integrates multimodal data, including RGB imagery, LiDAR, and IMU measurements, offering a realistic testing platform for SLAM and image classification algorithms. Benchmarking experiments reveal the strengths and limitations of existing algorithms in handling complex and unstructured environments. The WHU-PA3D dataset provides a useful reference for planetary surface localization, geological analysis, and mission planning.