Insulation under the mattress is good. Yet in really cold weather, convective heat loss in spring mattresses becomes readily apparent, in addition to the condensation of moisture in and under the mattress.
After insulating under the mattress using a foil faced polyisocyante foam, we replaced the original spring mattress with a closed cell latex foam mattress. While a bit heavy, it had no vapor permeability, good support, was much warmer to sleep on and wasn't so high that it interferred with closet doors opening over the bed.
During winter camping when recharging the batteries with the generator in the evening, we also turn on an electric blanket to pre-heat the bed. Makes for a very comfortable night when the outside temperatures are below zero.