As maritime technology advances, multi-energy ship microgrids (MESMs) are widely used in large cruise tourism. In this context, studying cost-effective and highly reliable energy system planning methods for MESMs in their entire lifespan becomes paramount. Therefore, this paper proposes a joint planning method for a MESM during its lifetime. Firstly, a long timescale coordinated planning and operation scheme is formulated with the aim of maximizing the Net Present Value (NPV) value, thereby reducing both project investment and energy supply cost. In addition, this paper introduces novel operation models that incorporate customer thermal comfort levels, considering thermal inertia, and ship navigation, accounting for the effects of waves and wind. These models enhance the flexibility and practicality of the planning process. Finally, to ensure the safe operation of vessels and alleviate the negative effects of uncertain wind and waves during ship navigation, a robust optimization (RO) approach is employed. A case study demonstrates the effectiveness of the proposed method, with several comparison analyzes further highlighting its advantages.