Our sleeper sofa came with an air mattress and it is very comfortable. I don't know the brand name but it has the built in inflater and the back of the couch lifts up and folds forward to expose the mattress.
F350 PSD CC DRW Tow Boss
Heartland Bighorn 3600RE
Airsafe Revolution
I think I'd try one of those air beds from the camping department of WalMart or Sam's--I think I've seen them from about $40-100 and some are self-inflating. You could then try it with and without the memory foam. If your sofa sleeper is like the one in our last rig, anything you try would be an improvement! The one we have now is a Magic Bed and it's extremely comfortable except for being full-sized instead of queen.
"Time passes but memories remain"
Fulltime since Jan. 2004
40' Allegro Zephyr