First, I assume your inverter does pass-through as there's really no reasonable way to run a heater off of an inverter. Just do the math- typical heater is 1500w. That's 12.5A @ 120VAC, so 125A @ 12VDC. Let's assume your inverter is about 80% efficient and now we're talking almost 160 amps of load. A typical group 31 battery has around 100 a/h of capacity. Let's say you have 2 of them installed for 200 a/h. You can realistically use half of that so you'd get about 45 minutes of run time out of that set-up on just the batteries.
Sorry if that's a little off-topic, but I regularly have people ask about running a heater off an inverter and they just don't get why it's not a good idea.
(then there was the client who insisted he could run his battery charger off the inverter to keep the batteries topped up…I told him if he got that to work he'd be a billionaire since it would be a perpetual motion machine!)
Regardless…assuming you have the power available a space heater is by far the cheapest/easiest way to go and for a small space like a van they work very well. As for the trouble with them falling over, once more the boating world has a solution:
http://www.westmarine.com/buy/west-marine--portable-cabin-heater--7867500?recordNum=3
I have one of these on my boat and use it often instead of firing up the big reverse cycle heater as this is much quieter and keeps my little 32 footer warm enough until it gets down below 40, which isn't that often in my area (SF Bay).