What is the problem with the mattress? I ask because you can replace it with new foam and by doing that you open a whole world of options. The mattress in my WilderNest is 3" thick and sleeps very well. I used a place up in Boulder, CO, for the foam, The Foam Source.
http://www.foamsource.com/
Basically, you can specify a few different things to get a mattress that will work for you. Closed cell foam has two main specs, density and indention load deflection (called ILD).
The density is a measure of the weight of the foam, which is more important if you are making a human power something and are very worried about weight and size. It is measured in pounds per cubic foot. It just tells you weight, a more dense foam does not necessarily mean it's more firm. A firm mattress can be light weight, but density does usually indicate how long the foam will retain it's firmness. A very low density foam will go soft faster as the walls of the cells flex and wear out. A dense foam will simply last longer and keep it's qualities longer.
The ILD is
key to finding a mattress that is comfy. There are 2 measures in the standard for ILD. First is to take a 50 sq in 'indenter' (simply a roughly 7"x7" square ram) and compress a 4 inch thick piece of foam down to 3 inches. The other is to take the 50 sq in 'indenter' and compress a 4 inch thick piece of foam down to 1.5 inches. The amount of force required to compress the foam gives you a 25% (4" -> 3") and 65% (4" -> 1.5") ILD number. It seems most places use the 25% ILD to specify their foam firmness. Basically these numbers give you an equalizing spec to tell you when your body weight with whatever area lays on the foam, how much it will compress. You want it firm enough to support you but not feel like mostly cured concrete.
I used foam with a density of 2.6 lbs and a ILD of 35 lbs. This is a fairly dense foam. I'm 6'0" and go roughly 175 lbs. I compress into the mattress about an inch at the most. For your 2" thick mattress I might get something a little higher, maybe even 40 lbs ILD foam, but there's plenty of thickness to work with. I would call a furniture or RV upholstery place, they'll know all the ins and outs of foam and get you something that works.